# 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: 2010_Davidson_1v1.rte # Mission File: 2010_Davidson_1v1.cfg # Distance: 77534.865038 (m) # Estimated Time: 54364 (s) 15.101 (hr) # Abort Time: 60820 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2179 (s) # Way Points: 21 # Route Points: 757 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # 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 Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 2343.622742 (m) # Abort Vehicle Depth: 2381.122742 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1687.659831 m # Spiral descent altitude: 75 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 -122.709594 35.745406 -1772.659831 0.000000 4 # 1 -122.708305 35.748080 -1742.789062 318.651878 1 # 2 -122.635523 35.804399 -2381.122742 9390.113082 4 # 3 -122.637048 35.805706 -2306.294739 9590.113082 3 # 4 -122.710036 35.749101 -1725.232747 18696.781152 4 # 5 -122.711840 35.750153 -1747.820964 18897.337667 3 # 6 -122.638573 35.807013 -2235.447815 28041.737792 4 # 7 -122.640099 35.808320 -2269.512756 28241.737792 3 # 8 -122.713682 35.751265 -1742.569366 37421.678326 4 # 9 -122.715207 35.752570 -1734.237488 37621.678326 3 # 10 -122.641624 35.809626 -2186.323181 46801.618861 4 # 11 -122.643150 35.810933 -2095.540649 47001.618861 3 # 12 -122.716733 35.753876 -1773.569366 56181.559395 4 # 13 -122.718258 35.755182 -1820.186615 56381.559395 3 # 14 -122.644675 35.812240 -2060.259766 65561.499930 4 # 15 -122.646433 35.813608 -2156.447591 65781.122510 3 # 16 -122.659213 35.804083 -2106.227376 67346.020357 3 # 17 -122.652252 35.788670 -1968.041992 69167.538903 3 # 18 -122.683667 35.764394 -1646.885905 73080.512793 3 # 19 -122.697146 35.774219 -1659.574056 74715.087808 3 # 20 -122.719685 35.756643 -1816.545247 77534.865038 4 # # A total of 757 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 60300; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2343.622742; abortDepth = 2381.122742; minAltitude = 75.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2179; 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 20 # Segment length 81.946705 meters # Minimum depth: 1816.545247 meters looking forward 0.000000 meters along route # Maximum depth: 1816.545247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1741.545247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756643; longitude = -122.719685; captureRadius = 10; duration = 163; # abortOnTimeout = True; initialDepth = 1745.181609; finalDepth = 1741.545247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1741.545247 # Seafloor depth: -1816.545247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.227914 meters # Minimum depth: 1820.181609 meters looking forward 0.000000 meters along route # Maximum depth: 1820.181609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1745.181609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757153; longitude = -122.719030; captureRadius = 10; duration = 202; initialDepth = 1756.615477; finalDepth = 1745.181609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1745.181609 # Seafloor depth: -1820.181609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.227507 meters # Minimum depth: 1831.615477 meters looking forward 0.000000 meters along route # Maximum depth: 1831.615477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1756.615477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757784; longitude = -122.718221; captureRadius = 10; duration = 202; initialDepth = 1757.222172; finalDepth = 1756.615477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1756.615477 # Seafloor depth: -1831.615477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.227099 meters # Minimum depth: 1832.222172 meters looking forward 0.000000 meters along route # Maximum depth: 1832.222172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1757.222172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758415; longitude = -122.717412; captureRadius = 10; duration = 202; initialDepth = 1741.224797; finalDepth = 1757.222172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1757.222172 # Seafloor depth: -1832.222172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.226691 meters # Minimum depth: 1816.224797 meters looking forward 0.000000 meters along route # Maximum depth: 1816.224797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1741.224797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759046; longitude = -122.716603; captureRadius = 10; duration = 202; initialDepth = 1713.018930; finalDepth = 1741.224797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1741.224797 # Seafloor depth: -1816.224797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.226284 meters # Minimum depth: 1788.018930 meters looking forward 0.000000 meters along route # Maximum depth: 1788.018930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1713.018930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759677; longitude = -122.715793; captureRadius = 10; duration = 202; initialDepth = 1682.457247; finalDepth = 1713.018930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1713.01893 # Seafloor depth: -1788.018930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.225877 meters # Minimum depth: 1757.457247 meters looking forward 0.000000 meters along route # Maximum depth: 1757.457247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.457247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760308; longitude = -122.714984; captureRadius = 10; duration = 202; initialDepth = 1653.081445; finalDepth = 1682.457247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.457247 # Seafloor depth: -1757.457247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.225469 meters # Minimum depth: 1728.081445 meters looking forward 0.000000 meters along route # Maximum depth: 1728.081445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1653.081445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760939; longitude = -122.714175; captureRadius = 10; duration = 202; initialDepth = 1623.944257; finalDepth = 1653.081445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1653.081445 # Seafloor depth: -1728.081445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.225062 meters # Minimum depth: 1698.944257 meters looking forward 0.000000 meters along route # Maximum depth: 1698.944257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1623.944257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761570; longitude = -122.713366; captureRadius = 10; duration = 202; initialDepth = 1595.694449; finalDepth = 1623.944257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1623.944257 # Seafloor depth: -1698.944257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.224654 meters # Minimum depth: 1670.694449 meters looking forward 0.000000 meters along route # Maximum depth: 1670.694449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.694449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762201; longitude = -122.712557; captureRadius = 10; duration = 202; initialDepth = 1572.827845; finalDepth = 1595.694449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1595.694449 # Seafloor depth: -1670.694449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.224246 meters # Minimum depth: 1647.827845 meters looking forward 0.000000 meters along route # Maximum depth: 1647.827845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.827845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762832; longitude = -122.711748; captureRadius = 10; duration = 202; initialDepth = 1549.788063; finalDepth = 1572.827845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.827845 # Seafloor depth: -1647.827845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.223840 meters # Minimum depth: 1624.788063 meters looking forward 0.000000 meters along route # Maximum depth: 1624.788063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1549.788063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763463; longitude = -122.710939; captureRadius = 10; duration = 202; initialDepth = 1542.874891; finalDepth = 1549.788063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1549.788063 # Seafloor depth: -1624.788063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.223431 meters # Minimum depth: 1617.874891 meters looking forward 0.000000 meters along route # Maximum depth: 1617.874891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1542.874891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764094; longitude = -122.710130; captureRadius = 10; duration = 202; initialDepth = 1524.843808; finalDepth = 1542.874891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1542.874891 # Seafloor depth: -1617.874891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.223025 meters # Minimum depth: 1599.843808 meters looking forward 0.000000 meters along route # Maximum depth: 1599.843808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1524.843808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764725; longitude = -122.709321; captureRadius = 10; duration = 202; initialDepth = 1541.754930; finalDepth = 1524.843808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1524.843808 # Seafloor depth: -1599.843808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.222617 meters # Minimum depth: 1616.754930 meters looking forward 0.000000 meters along route # Maximum depth: 1616.754930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1541.754930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765356; longitude = -122.708512; captureRadius = 10; duration = 202; initialDepth = 1546.740914; finalDepth = 1541.754930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1541.75493 # Seafloor depth: -1616.754930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.222209 meters # Minimum depth: 1621.740914 meters looking forward 0.000000 meters along route # Maximum depth: 1621.740914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1546.740914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765987; longitude = -122.707703; captureRadius = 10; duration = 202; initialDepth = 1569.124275; finalDepth = 1546.740914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1546.740914 # Seafloor depth: -1621.740914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.221802 meters # Minimum depth: 1644.124275 meters looking forward 0.000000 meters along route # Maximum depth: 1644.124275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1569.124275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766618; longitude = -122.706893; captureRadius = 10; duration = 202; initialDepth = 1577.873967; finalDepth = 1569.124275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1569.124275 # Seafloor depth: -1644.124275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.221395 meters # Minimum depth: 1652.873967 meters looking forward 0.000000 meters along route # Maximum depth: 1652.873967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.873967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767248; longitude = -122.706084; captureRadius = 10; duration = 202; initialDepth = 1578.915428; finalDepth = 1577.873967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1577.873967 # Seafloor depth: -1652.873967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.220987 meters # Minimum depth: 1653.915428 meters looking forward 0.000000 meters along route # Maximum depth: 1653.915428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1578.915428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767879; longitude = -122.705275; captureRadius = 10; duration = 202; initialDepth = 1571.481624; finalDepth = 1578.915428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1578.915428 # Seafloor depth: -1653.915428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.220580 meters # Minimum depth: 1646.481624 meters looking forward 0.000000 meters along route # Maximum depth: 1646.481624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1571.481624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768510; longitude = -122.704466; captureRadius = 10; duration = 202; initialDepth = 1565.652393; finalDepth = 1571.481624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1571.481624 # Seafloor depth: -1646.481624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.220172 meters # Minimum depth: 1640.652393 meters looking forward 0.000000 meters along route # Maximum depth: 1640.652393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1565.652393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769141; longitude = -122.703657; captureRadius = 10; duration = 202; initialDepth = 1567.150975; finalDepth = 1565.652393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1565.652393 # Seafloor depth: -1640.652393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.219765 meters # Minimum depth: 1642.150975 meters looking forward 0.000000 meters along route # Maximum depth: 1642.150975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.150975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769772; longitude = -122.702848; captureRadius = 10; duration = 202; initialDepth = 1573.029778; finalDepth = 1567.150975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.150975 # Seafloor depth: -1642.150975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.219358 meters # Minimum depth: 1648.029778 meters looking forward 0.000000 meters along route # Maximum depth: 1648.029778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.029778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770403; longitude = -122.702039; captureRadius = 10; duration = 202; initialDepth = 1569.510430; finalDepth = 1573.029778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1573.029778 # Seafloor depth: -1648.029778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.218951 meters # Minimum depth: 1644.510430 meters looking forward 0.000000 meters along route # Maximum depth: 1644.510430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1569.510430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771034; longitude = -122.701230; captureRadius = 10; duration = 202; initialDepth = 1539.709463; finalDepth = 1569.510430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1569.51043 # Seafloor depth: -1644.510430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.218543 meters # Minimum depth: 1614.709463 meters looking forward 0.000000 meters along route # Maximum depth: 1614.709463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1539.709463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771665; longitude = -122.700421; captureRadius = 10; duration = 202; initialDepth = 1510.893538; finalDepth = 1539.709463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1539.709463 # Seafloor depth: -1614.709463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.218135 meters # Minimum depth: 1585.893538 meters looking forward 0.000000 meters along route # Maximum depth: 1585.893538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1510.893538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772296; longitude = -122.699612; captureRadius = 10; duration = 202; initialDepth = 1506.107476; finalDepth = 1510.893538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1510.893538 # Seafloor depth: -1585.893538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.895849 meters # Minimum depth: 1581.107476 meters looking forward 0.000000 meters along route # Maximum depth: 1581.107476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1506.107476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772927; longitude = -122.698803; captureRadius = 10; duration = 211; initialDepth = 1538.937816; finalDepth = 1506.107476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1506.107476 # Seafloor depth: -1581.107476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.359063 meters # Minimum depth: 1613.937816 meters looking forward 0.000000 meters along route # Maximum depth: 1613.937816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.937816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773587; longitude = -122.697956; captureRadius = 10; duration = 202; initialDepth = 1584.574056; finalDepth = 1538.937816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1538.937816 # Seafloor depth: -1613.937816 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 156.306981 meters # Minimum depth: 1659.574056 meters looking forward 0.000000 meters along route # Maximum depth: 1659.574056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1584.574056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774219; longitude = -122.697146; captureRadius = 10; duration = 312; # abortOnTimeout = True; initialDepth = 1607.795042; finalDepth = 1584.574056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1584.574056 # Seafloor depth: -1659.574056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 107.182521 meters # Minimum depth: 1682.795042 meters looking forward 0.000000 meters along route # Maximum depth: 1682.795042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1607.795042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773279; longitude = -122.695857; captureRadius = 10; duration = 214; initialDepth = 1634.343118; finalDepth = 1607.795042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1607.795042 # Seafloor depth: -1682.795042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.405924 meters # Minimum depth: 1709.343118 meters looking forward 0.000000 meters along route # Maximum depth: 1709.343118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.343118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772635; longitude = -122.694973; captureRadius = 10; duration = 202; initialDepth = 1627.212486; finalDepth = 1634.343118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.343118 # Seafloor depth: -1709.343118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.970949 meters # Minimum depth: 1702.212486 meters looking forward 0.000000 meters along route # Maximum depth: 1702.212486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1627.212486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772026; longitude = -122.694137; captureRadius = 10; duration = 209; initialDepth = 1616.526082; finalDepth = 1627.212486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1627.212486 # Seafloor depth: -1702.212486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.971411 meters # Minimum depth: 1691.526082 meters looking forward 0.000000 meters along route # Maximum depth: 1691.526082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1616.526082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771395; longitude = -122.693271; captureRadius = 10; duration = 209; initialDepth = 1568.461548; finalDepth = 1616.526082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1616.526082 # Seafloor depth: -1691.526082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.971873 meters # Minimum depth: 1643.461548 meters looking forward 0.000000 meters along route # Maximum depth: 1643.461548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1568.461548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770764; longitude = -122.692405; captureRadius = 10; duration = 209; initialDepth = 1572.102813; finalDepth = 1568.461548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1568.461548 # Seafloor depth: -1643.461548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.201520 meters # Minimum depth: 1647.102813 meters looking forward 0.000000 meters along route # Maximum depth: 1647.102813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.102813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770133; longitude = -122.691540; captureRadius = 10; duration = 212; initialDepth = 1616.664225; finalDepth = 1572.102813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.102813 # Seafloor depth: -1647.102813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.185347 meters # Minimum depth: 1691.664225 meters looking forward 0.000000 meters along route # Maximum depth: 1691.664225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1616.664225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769494; longitude = -122.690664; captureRadius = 10; duration = 214; initialDepth = 1651.501161; finalDepth = 1616.664225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1616.664225 # Seafloor depth: -1691.664225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.531518 meters # Minimum depth: 1726.501161 meters looking forward 0.000000 meters along route # Maximum depth: 1726.501161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1651.501161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768850; longitude = -122.689780; captureRadius = 10; duration = 203; initialDepth = 1664.017651; finalDepth = 1651.501161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1651.501161 # Seafloor depth: -1726.501161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.973718 meters # Minimum depth: 1739.017651 meters looking forward 0.000000 meters along route # Maximum depth: 1739.017651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1664.017651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768240; longitude = -122.688943; captureRadius = 10; duration = 209; initialDepth = 1682.284996; finalDepth = 1664.017651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1664.017651 # Seafloor depth: -1739.017651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.974180 meters # Minimum depth: 1757.284996 meters looking forward 0.000000 meters along route # Maximum depth: 1757.284996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.284996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767609; longitude = -122.688077; captureRadius = 10; duration = 209; initialDepth = 1682.722778; finalDepth = 1682.284996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.284996 # Seafloor depth: -1757.284996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.974641 meters # Minimum depth: 1757.722778 meters looking forward 0.000000 meters along route # Maximum depth: 1757.722778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.722778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766978; longitude = -122.687212; captureRadius = 10; duration = 209; initialDepth = 1673.827461; finalDepth = 1682.722778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.722778 # Seafloor depth: -1757.722778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.081399 meters # Minimum depth: 1748.827461 meters looking forward 0.000000 meters along route # Maximum depth: 1748.827461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1673.827461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766347; longitude = -122.686346; captureRadius = 10; duration = 212; initialDepth = 1664.325654; finalDepth = 1673.827461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1673.827461 # Seafloor depth: -1748.827461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.188174 meters # Minimum depth: 1739.325654 meters looking forward 0.000000 meters along route # Maximum depth: 1739.325654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1664.325654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765710; longitude = -122.685471; captureRadius = 10; duration = 214; initialDepth = 1634.343623; finalDepth = 1664.325654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1664.325654 # Seafloor depth: -1739.325654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 111.654859 meters # Minimum depth: 1709.343623 meters looking forward 0.000000 meters along route # Maximum depth: 1709.343623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.343623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765065; longitude = -122.684587; captureRadius = 10; duration = 223; initialDepth = 1571.885905; finalDepth = 1634.343623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.343623 # Seafloor depth: -1709.343623 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 140.451460 meters # Minimum depth: 1646.885905 meters looking forward 0.000000 meters along route # Maximum depth: 1646.885905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1571.885905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764394; longitude = -122.683667; captureRadius = 10; duration = 280; # abortOnTimeout = True; initialDepth = 1534.526789; finalDepth = 1571.885905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1571.885905 # Seafloor depth: -1646.885905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.693666 meters # Minimum depth: 1609.526789 meters looking forward 0.000000 meters along route # Maximum depth: 1609.526789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1534.526789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765265; longitude = -122.682539; captureRadius = 10; duration = 205; initialDepth = 1536.776235; finalDepth = 1534.526789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1534.526789 # Seafloor depth: -1609.526789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.717397 meters # Minimum depth: 1611.776235 meters looking forward 0.000000 meters along route # Maximum depth: 1611.776235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1536.776235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765903; longitude = -122.681715; captureRadius = 10; duration = 201; initialDepth = 1532.481492; finalDepth = 1536.776235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1536.776235 # Seafloor depth: -1611.776235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.704913 meters # Minimum depth: 1607.481492 meters looking forward 0.000000 meters along route # Maximum depth: 1607.481492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1532.481492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766527; longitude = -122.680906; captureRadius = 10; duration = 203; initialDepth = 1528.882842; finalDepth = 1532.481492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1532.481492 # Seafloor depth: -1607.481492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.704501 meters # Minimum depth: 1603.882842 meters looking forward 0.000000 meters along route # Maximum depth: 1603.882842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.882842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767158; longitude = -122.680090; captureRadius = 10; duration = 203; initialDepth = 1538.172146; finalDepth = 1528.882842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.882842 # Seafloor depth: -1603.882842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.704088 meters # Minimum depth: 1613.172146 meters looking forward 0.000000 meters along route # Maximum depth: 1613.172146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.172146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767789; longitude = -122.679273; captureRadius = 10; duration = 203; initialDepth = 1562.242382; finalDepth = 1538.172146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1538.172146 # Seafloor depth: -1613.172146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.389933 meters # Minimum depth: 1637.242382 meters looking forward 0.000000 meters along route # Maximum depth: 1637.242382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.242382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768420; longitude = -122.678457; captureRadius = 10; duration = 206; initialDepth = 1601.828989; finalDepth = 1562.242382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1562.242382 # Seafloor depth: -1637.242382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.017005 meters # Minimum depth: 1676.828989 meters looking forward 0.000000 meters along route # Maximum depth: 1676.828989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1601.828989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769062; longitude = -122.677627; captureRadius = 10; duration = 200; initialDepth = 1624.016382; finalDepth = 1601.828989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1601.828989 # Seafloor depth: -1676.828989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.702851 meters # Minimum depth: 1699.016382 meters looking forward 0.000000 meters along route # Maximum depth: 1699.016382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.016382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769682; longitude = -122.676824; captureRadius = 10; duration = 203; initialDepth = 1634.734758; finalDepth = 1624.016382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.016382 # Seafloor depth: -1699.016382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.702437 meters # Minimum depth: 1709.734758 meters looking forward 0.000000 meters along route # Maximum depth: 1709.734758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.734758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770313; longitude = -122.676007; captureRadius = 10; duration = 203; initialDepth = 1615.959653; finalDepth = 1634.734758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.734758 # Seafloor depth: -1709.734758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.702026 meters # Minimum depth: 1690.959653 meters looking forward 0.000000 meters along route # Maximum depth: 1690.959653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1615.959653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770944; longitude = -122.675191; captureRadius = 10; duration = 203; initialDepth = 1620.479364; finalDepth = 1615.959653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1615.959653 # Seafloor depth: -1690.959653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.701613 meters # Minimum depth: 1695.479364 meters looking forward 0.000000 meters along route # Maximum depth: 1695.479364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1620.479364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771575; longitude = -122.674374; captureRadius = 10; duration = 203; initialDepth = 1649.682130; finalDepth = 1620.479364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1620.479364 # Seafloor depth: -1695.479364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.701200 meters # Minimum depth: 1724.682130 meters looking forward 0.000000 meters along route # Maximum depth: 1724.682130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.682130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772206; longitude = -122.673558; captureRadius = 10; duration = 203; initialDepth = 1697.106177; finalDepth = 1649.682130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.68213 # Seafloor depth: -1724.682130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.700788 meters # Minimum depth: 1775.426718 meters looking forward 0.000000 meters along route # Maximum depth: 1775.426718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1697.106177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772837; longitude = -122.672742; captureRadius = 10; duration = 203; initialDepth = 1688.941951; finalDepth = 1697.106177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3205405180101 # Actual altitude: 78.3205405180101 # Commanded vehicle depth: 1697.10617748199 # Seafloor depth: -1775.426718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.751472 meters # Minimum depth: 1763.941951 meters looking forward 0.000000 meters along route # Maximum depth: 1763.941951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.941951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773468; longitude = -122.671925; captureRadius = 10; duration = 203; initialDepth = 1655.749132; finalDepth = 1688.941951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3205405180101 # Actual altitude: 78.3205405180101 # Commanded vehicle depth: 1688.941951 # Seafloor depth: -1763.941951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.648866 meters # Minimum depth: 1730.749132 meters looking forward 0.000000 meters along route # Maximum depth: 1730.749132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1655.749132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774099; longitude = -122.671108; captureRadius = 10; duration = 203; initialDepth = 1635.858495; finalDepth = 1655.749132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1655.749132 # Seafloor depth: -1730.749132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.699551 meters # Minimum depth: 1710.858495 meters looking forward 0.000000 meters along route # Maximum depth: 1710.858495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.858495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774730; longitude = -122.670292; captureRadius = 10; duration = 203; initialDepth = 1625.459647; finalDepth = 1635.858495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.858495 # Seafloor depth: -1710.858495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.699138 meters # Minimum depth: 1700.459647 meters looking forward 0.000000 meters along route # Maximum depth: 1700.459647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.459647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775361; longitude = -122.669476; captureRadius = 10; duration = 203; initialDepth = 1621.712681; finalDepth = 1625.459647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.459647 # Seafloor depth: -1700.459647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.698725 meters # Minimum depth: 1696.712681 meters looking forward 0.000000 meters along route # Maximum depth: 1696.712681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1621.712681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775991; longitude = -122.668659; captureRadius = 10; duration = 203; initialDepth = 1636.113048; finalDepth = 1621.712681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1621.712681 # Seafloor depth: -1696.712681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.447722 meters # Minimum depth: 1711.113048 meters looking forward 0.000000 meters along route # Maximum depth: 1711.113048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1636.113048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776622; longitude = -122.667843; captureRadius = 10; duration = 204; initialDepth = 1653.758349; finalDepth = 1636.113048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1636.113048 # Seafloor depth: -1711.113048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.948492 meters # Minimum depth: 1728.758349 meters looking forward 0.000000 meters along route # Maximum depth: 1728.758349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1653.758349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777258; longitude = -122.667020; captureRadius = 10; duration = 201; initialDepth = 1670.481354; finalDepth = 1653.758349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1653.758349 # Seafloor depth: -1728.758349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.697488 meters # Minimum depth: 1745.481354 meters looking forward 0.000000 meters along route # Maximum depth: 1745.481354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1670.481354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777884; longitude = -122.666210; captureRadius = 10; duration = 203; initialDepth = 1650.667571; finalDepth = 1670.481354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1670.481354 # Seafloor depth: -1745.481354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.697076 meters # Minimum depth: 1725.667571 meters looking forward 0.000000 meters along route # Maximum depth: 1725.667571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1650.667571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778515; longitude = -122.665393; captureRadius = 10; duration = 203; initialDepth = 1601.447393; finalDepth = 1650.667571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1650.667571 # Seafloor depth: -1725.667571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.696664 meters # Minimum depth: 1676.447393 meters looking forward 0.000000 meters along route # Maximum depth: 1676.447393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1601.447393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779146; longitude = -122.664577; captureRadius = 10; duration = 203; initialDepth = 1642.062367; finalDepth = 1601.447393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1601.447393 # Seafloor depth: -1676.447393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.143942 meters # Minimum depth: 1717.062367 meters looking forward 0.000000 meters along route # Maximum depth: 1717.062367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.062367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779777; longitude = -122.663760; captureRadius = 10; duration = 206; initialDepth = 1688.757500; finalDepth = 1642.062367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.062367 # Seafloor depth: -1717.062367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.248148 meters # Minimum depth: 1763.757500 meters looking forward 0.000000 meters along route # Maximum depth: 1763.757500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.757500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780417; longitude = -122.662932; captureRadius = 10; duration = 200; initialDepth = 1693.448368; finalDepth = 1688.757500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1688.7575 # Seafloor depth: -1763.757500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.695426 meters # Minimum depth: 1768.448368 meters looking forward 0.000000 meters along route # Maximum depth: 1768.448368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.448368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781039; longitude = -122.662127; captureRadius = 10; duration = 203; initialDepth = 1719.297370; finalDepth = 1693.448368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1693.448368 # Seafloor depth: -1768.448368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.695014 meters # Minimum depth: 1794.297370 meters looking forward 0.000000 meters along route # Maximum depth: 1794.297370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1719.297370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781670; longitude = -122.661311; captureRadius = 10; duration = 203; initialDepth = 1721.902710; finalDepth = 1719.297370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1719.29737 # Seafloor depth: -1794.297370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.694602 meters # Minimum depth: 1796.902710 meters looking forward 0.000000 meters along route # Maximum depth: 1796.902710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1721.902710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782301; longitude = -122.660494; captureRadius = 10; duration = 203; initialDepth = 1755.377120; finalDepth = 1721.902710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1721.90271 # Seafloor depth: -1796.902710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.694189 meters # Minimum depth: 1830.377120 meters looking forward 0.000000 meters along route # Maximum depth: 1830.377120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1755.377120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782932; longitude = -122.659678; captureRadius = 10; duration = 203; initialDepth = 1771.087756; finalDepth = 1755.377120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1755.37712 # Seafloor depth: -1830.377120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.693777 meters # Minimum depth: 1846.087756 meters looking forward 0.000000 meters along route # Maximum depth: 1846.087756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1771.087756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783563; longitude = -122.658862; captureRadius = 10; duration = 203; initialDepth = 1775.329886; finalDepth = 1771.087756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1771.087756 # Seafloor depth: -1846.087756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.693365 meters # Minimum depth: 1850.329886 meters looking forward 0.000000 meters along route # Maximum depth: 1850.329886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1775.329886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784194; longitude = -122.658045; captureRadius = 10; duration = 203; initialDepth = 1792.241566; finalDepth = 1775.329886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1775.329886 # Seafloor depth: -1850.329886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.692952 meters # Minimum depth: 1867.241566 meters looking forward 0.000000 meters along route # Maximum depth: 1867.241566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1792.241566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784825; longitude = -122.657229; captureRadius = 10; duration = 203; initialDepth = 1785.755637; finalDepth = 1792.241566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1792.241566 # Seafloor depth: -1867.241566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.692541 meters # Minimum depth: 1860.755637 meters looking forward 0.000000 meters along route # Maximum depth: 1860.755637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1785.755637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785456; longitude = -122.656412; captureRadius = 10; duration = 203; initialDepth = 1762.771693; finalDepth = 1785.755637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1785.755637 # Seafloor depth: -1860.755637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.692127 meters # Minimum depth: 1837.771693 meters looking forward 0.000000 meters along route # Maximum depth: 1837.771693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.771693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786087; longitude = -122.655596; captureRadius = 10; duration = 203; initialDepth = 1767.507407; finalDepth = 1762.771693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.771693 # Seafloor depth: -1837.771693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.691716 meters # Minimum depth: 1842.507407 meters looking forward 0.000000 meters along route # Maximum depth: 1842.507407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1767.507407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786717; longitude = -122.654779; captureRadius = 10; duration = 203; initialDepth = 1812.084093; finalDepth = 1767.507407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1767.507407 # Seafloor depth: -1842.507407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.566939 meters # Minimum depth: 1887.084093 meters looking forward 0.000000 meters along route # Maximum depth: 1887.084093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1812.084093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787348; longitude = -122.653963; captureRadius = 10; duration = 215; initialDepth = 1854.126123; finalDepth = 1812.084093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1812.084093 # Seafloor depth: -1887.084093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.500080 meters # Minimum depth: 1929.126123 meters looking forward 0.000000 meters along route # Maximum depth: 1929.126123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1854.126123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788016; longitude = -122.653099; captureRadius = 10; duration = 211; initialDepth = 1893.041992; finalDepth = 1854.126123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1854.126123 # Seafloor depth: -1929.126123 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 77.102099 meters # Minimum depth: 1968.041992 meters looking forward 0.000000 meters along route # Maximum depth: 1968.041992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1893.041992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788670; longitude = -122.652252; captureRadius = 10; duration = 154; # abortOnTimeout = True; initialDepth = 1867.309698; finalDepth = 1893.041992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1893.041992 # Seafloor depth: -1968.041992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 115.653018 meters # Minimum depth: 1942.309698 meters looking forward 0.000000 meters along route # Maximum depth: 1942.309698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1867.309698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789323; longitude = -122.652547; captureRadius = 10; duration = 231; initialDepth = 1854.245821; finalDepth = 1867.309698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1867.309698 # Seafloor depth: -1942.309698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652862 meters # Minimum depth: 1929.245821 meters looking forward 0.000000 meters along route # Maximum depth: 1929.245821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1854.245821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790301; longitude = -122.652989; captureRadius = 10; duration = 231; initialDepth = 1840.411168; finalDepth = 1854.245821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1854.245821 # Seafloor depth: -1929.245821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652706 meters # Minimum depth: 1915.411168 meters looking forward 0.000000 meters along route # Maximum depth: 1915.411168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1840.411168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791280; longitude = -122.653431; captureRadius = 10; duration = 231; initialDepth = 1772.564947; finalDepth = 1840.411168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1840.411168 # Seafloor depth: -1915.411168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652550 meters # Minimum depth: 1847.564947 meters looking forward 0.000000 meters along route # Maximum depth: 1847.564947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1772.564947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792259; longitude = -122.653873; captureRadius = 10; duration = 231; initialDepth = 1747.758545; finalDepth = 1772.564947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1772.564947 # Seafloor depth: -1847.564947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652393 meters # Minimum depth: 1822.758545 meters looking forward 0.000000 meters along route # Maximum depth: 1822.758545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1747.758545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793237; longitude = -122.654314; captureRadius = 10; duration = 231; initialDepth = 1764.438285; finalDepth = 1747.758545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1747.758545 # Seafloor depth: -1822.758545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652238 meters # Minimum depth: 1839.438285 meters looking forward 0.000000 meters along route # Maximum depth: 1839.438285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1764.438285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794216; longitude = -122.654756; captureRadius = 10; duration = 231; initialDepth = 1747.758801; finalDepth = 1764.438285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1764.438285 # Seafloor depth: -1839.438285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.652082 meters # Minimum depth: 1822.758801 meters looking forward 0.000000 meters along route # Maximum depth: 1822.758801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1747.758801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795194; longitude = -122.655198; captureRadius = 10; duration = 231; initialDepth = 1758.909499; finalDepth = 1747.758801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1747.758801 # Seafloor depth: -1822.758801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651925 meters # Minimum depth: 1833.909499 meters looking forward 0.000000 meters along route # Maximum depth: 1833.909499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1758.909499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796173; longitude = -122.655640; captureRadius = 10; duration = 231; initialDepth = 1787.535191; finalDepth = 1758.909499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1758.909499 # Seafloor depth: -1833.909499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651770 meters # Minimum depth: 1862.535191 meters looking forward 0.000000 meters along route # Maximum depth: 1862.535191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1787.535191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797152; longitude = -122.656082; captureRadius = 10; duration = 231; initialDepth = 1813.604242; finalDepth = 1787.535191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1787.535191 # Seafloor depth: -1862.535191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651614 meters # Minimum depth: 1888.604242 meters looking forward 0.000000 meters along route # Maximum depth: 1888.604242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1813.604242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798130; longitude = -122.656524; captureRadius = 10; duration = 231; initialDepth = 1821.544370; finalDepth = 1813.604242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1813.604242 # Seafloor depth: -1888.604242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651457 meters # Minimum depth: 1896.544370 meters looking forward 0.000000 meters along route # Maximum depth: 1896.544370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1821.544370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799109; longitude = -122.656966; captureRadius = 10; duration = 231; initialDepth = 1875.473529; finalDepth = 1821.544370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1821.54437 # Seafloor depth: -1896.544370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651302 meters # Minimum depth: 1956.760091 meters looking forward 0.000000 meters along route # Maximum depth: 1956.760091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1875.473529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800087; longitude = -122.657408; captureRadius = 10; duration = 231; initialDepth = 1911.345186; finalDepth = 1875.473529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2865619720876 # Actual altitude: 81.2865619720876 # Commanded vehicle depth: 1875.47352902791 # Seafloor depth: -1956.760091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 325.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.651145 meters # Minimum depth: 1986.345186 meters looking forward 0.000000 meters along route # Maximum depth: 1986.345186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1911.345186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801066; longitude = -122.657850; captureRadius = 10; duration = 231; initialDepth = 1941.867455; finalDepth = 1911.345186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2865619720876 # Actual altitude: 81.2865619720876 # Commanded vehicle depth: 1911.345186 # Seafloor depth: -1986.345186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 325.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 115.650990 meters # Minimum depth: 2016.867455 meters looking forward 0.000000 meters along route # Maximum depth: 2016.867455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1941.867455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802045; longitude = -122.658292; captureRadius = 10; duration = 231; initialDepth = 1969.919823; finalDepth = 1941.867455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1941.867455 # Seafloor depth: -2016.867455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 125.288395 meters # Minimum depth: 2044.919823 meters looking forward 0.000000 meters along route # Maximum depth: 2044.919823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1969.919823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803023; longitude = -122.658734; captureRadius = 10; duration = 250; initialDepth = 2028.342760; finalDepth = 1969.919823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1969.919823 # Seafloor depth: -2044.919823 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 153.337314 meters # Minimum depth: 2106.227376 meters looking forward 0.000000 meters along route # Maximum depth: 2106.227376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2028.342760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804083; longitude = -122.659213; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 2031.730617; finalDepth = 2028.342760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.884616068849 # Actual altitude: 77.884616068849 # Commanded vehicle depth: 2028.34275993115 # Seafloor depth: -2106.227376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.237530 meters # Minimum depth: 2106.730617 meters looking forward 0.000000 meters along route # Maximum depth: 2106.730617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2031.730617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805017; longitude = -122.657960; captureRadius = 10; duration = 216; initialDepth = 2071.144484; finalDepth = 2031.730617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.884616068849 # Actual altitude: 77.884616068849 # Commanded vehicle depth: 2031.730617 # Seafloor depth: -2106.730617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.237056 meters # Minimum depth: 2146.144484 meters looking forward 0.000000 meters along route # Maximum depth: 2146.144484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2071.144484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805675; longitude = -122.657077; captureRadius = 10; duration = 216; initialDepth = 2087.001488; finalDepth = 2071.144484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2071.144484 # Seafloor depth: -2146.144484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.236581 meters # Minimum depth: 2162.001488 meters looking forward 0.000000 meters along route # Maximum depth: 2162.001488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2087.001488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806334; longitude = -122.656193; captureRadius = 10; duration = 216; initialDepth = 2071.707665; finalDepth = 2087.001488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2087.001488 # Seafloor depth: -2162.001488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.236106 meters # Minimum depth: 2146.707665 meters looking forward 0.000000 meters along route # Maximum depth: 2146.707665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2071.707665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806993; longitude = -122.655309; captureRadius = 10; duration = 216; initialDepth = 2065.771384; finalDepth = 2071.707665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2071.707665 # Seafloor depth: -2146.707665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.235633 meters # Minimum depth: 2140.771384 meters looking forward 0.000000 meters along route # Maximum depth: 2140.771384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2065.771384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807652; longitude = -122.654425; captureRadius = 10; duration = 216; initialDepth = 2086.551927; finalDepth = 2065.771384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2065.771384 # Seafloor depth: -2140.771384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.235157 meters # Minimum depth: 2161.551927 meters looking forward 0.000000 meters along route # Maximum depth: 2161.551927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2086.551927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808310; longitude = -122.653541; captureRadius = 10; duration = 216; initialDepth = 2115.252705; finalDepth = 2086.551927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2086.551927 # Seafloor depth: -2161.551927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.234684 meters # Minimum depth: 2190.252705 meters looking forward 0.000000 meters along route # Maximum depth: 2190.252705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2115.252705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808969; longitude = -122.652657; captureRadius = 10; duration = 216; initialDepth = 2128.546108; finalDepth = 2115.252705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2115.252705 # Seafloor depth: -2190.252705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.234208 meters # Minimum depth: 2203.546108 meters looking forward 0.000000 meters along route # Maximum depth: 2203.546108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2128.546108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809628; longitude = -122.651773; captureRadius = 10; duration = 216; initialDepth = 2123.658390; finalDepth = 2128.546108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2128.546108 # Seafloor depth: -2203.546108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.233735 meters # Minimum depth: 2198.658390 meters looking forward 0.000000 meters along route # Maximum depth: 2198.658390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2123.658390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810286; longitude = -122.650889; captureRadius = 10; duration = 216; initialDepth = 2139.107298; finalDepth = 2123.658390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2123.65839 # Seafloor depth: -2198.658390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.233260 meters # Minimum depth: 2214.107298 meters looking forward 0.000000 meters along route # Maximum depth: 2214.107298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2139.107298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810945; longitude = -122.650006; captureRadius = 10; duration = 216; initialDepth = 2116.861517; finalDepth = 2139.107298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2139.107298 # Seafloor depth: -2214.107298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.232785 meters # Minimum depth: 2191.861517 meters looking forward 0.000000 meters along route # Maximum depth: 2191.861517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2116.861517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811604; longitude = -122.649122; captureRadius = 10; duration = 216; initialDepth = 2122.709982; finalDepth = 2116.861517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2116.861517 # Seafloor depth: -2191.861517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.232311 meters # Minimum depth: 2197.709982 meters looking forward 0.000000 meters along route # Maximum depth: 2197.709982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2122.709982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812263; longitude = -122.648238; captureRadius = 10; duration = 216; initialDepth = 2115.520209; finalDepth = 2122.709982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2122.709982 # Seafloor depth: -2197.709982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 112.741487 meters # Minimum depth: 2190.520209 meters looking forward 0.000000 meters along route # Maximum depth: 2190.520209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2115.520209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812921; longitude = -122.647354; captureRadius = 10; duration = 225; initialDepth = 2081.447591; finalDepth = 2115.520209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2115.520209 # Seafloor depth: -2190.520209 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 119.615187 meters # Minimum depth: 2156.447591 meters looking forward 0.000000 meters along route # Maximum depth: 2156.447591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2081.447591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813608; longitude = -122.646433; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 2027.730067; finalDepth = 2081.447591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2081.447591 # Seafloor depth: -2156.447591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.007393 meters # Minimum depth: 2102.730067 meters looking forward 0.000000 meters along route # Maximum depth: 2102.730067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2027.730067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812863; longitude = -122.645476; captureRadius = 10; duration = 200; initialDepth = 1985.259766; finalDepth = 2027.730067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2027.730067 # Seafloor depth: -2102.730067 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 132.820300 meters # Minimum depth: 2060.259766 meters looking forward 0.000000 meters along route # Maximum depth: 2060.259766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1985.259766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812240; longitude = -122.644675; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 1996.614136; finalDepth = 1985.259766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1985.259766 # Seafloor depth: -2060.259766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.493199 meters # Minimum depth: 2071.614136 meters looking forward 0.000000 meters along route # Maximum depth: 2071.614136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1996.614136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811414; longitude = -122.645740; captureRadius = 10; duration = 202; initialDepth = 2003.778446; finalDepth = 1996.614136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1996.614136 # Seafloor depth: -2071.614136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.493609 meters # Minimum depth: 2078.778446 meters looking forward 0.000000 meters along route # Maximum depth: 2078.778446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2003.778446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810783; longitude = -122.646554; captureRadius = 10; duration = 202; initialDepth = 1993.851426; finalDepth = 2003.778446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2003.778446 # Seafloor depth: -2078.778446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.494020 meters # Minimum depth: 2068.851426 meters looking forward 0.000000 meters along route # Maximum depth: 2068.851426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1993.851426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810152; longitude = -122.647367; captureRadius = 10; duration = 202; initialDepth = 1985.809111; finalDepth = 1993.851426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1993.851426 # Seafloor depth: -2068.851426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.494429 meters # Minimum depth: 2060.809111 meters looking forward 0.000000 meters along route # Maximum depth: 2060.809111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1985.809111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809521; longitude = -122.648181; captureRadius = 10; duration = 202; initialDepth = 1968.000742; finalDepth = 1985.809111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1985.809111 # Seafloor depth: -2060.809111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.494840 meters # Minimum depth: 2043.000742 meters looking forward 0.000000 meters along route # Maximum depth: 2043.000742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1968.000742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808891; longitude = -122.648995; captureRadius = 10; duration = 202; initialDepth = 1968.837315; finalDepth = 1968.000742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1968.000742 # Seafloor depth: -2043.000742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.495251 meters # Minimum depth: 2043.837315 meters looking forward 0.000000 meters along route # Maximum depth: 2043.837315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1968.837315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808260; longitude = -122.649808; captureRadius = 10; duration = 202; initialDepth = 1965.009976; finalDepth = 1968.837315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1968.837315 # Seafloor depth: -2043.837315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.265374 meters # Minimum depth: 2040.009976 meters looking forward 0.000000 meters along route # Maximum depth: 2040.009976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1965.009976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807629; longitude = -122.650622; captureRadius = 10; duration = 204; initialDepth = 2003.545267; finalDepth = 1965.009976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1965.009976 # Seafloor depth: -2040.009976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.726357 meters # Minimum depth: 2078.545267 meters looking forward 0.000000 meters along route # Maximum depth: 2078.545267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2003.545267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806993; longitude = -122.651442; captureRadius = 10; duration = 201; initialDepth = 2014.317273; finalDepth = 2003.545267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2003.545267 # Seafloor depth: -2078.545267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.496481 meters # Minimum depth: 2089.317273 meters looking forward 0.000000 meters along route # Maximum depth: 2089.317273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2014.317273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806367; longitude = -122.652249; captureRadius = 10; duration = 202; initialDepth = 1978.411747; finalDepth = 2014.317273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2014.317273 # Seafloor depth: -2089.317273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.496891 meters # Minimum depth: 2053.411747 meters looking forward 0.000000 meters along route # Maximum depth: 2053.411747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1978.411747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805736; longitude = -122.653063; captureRadius = 10; duration = 202; initialDepth = 1941.286760; finalDepth = 1978.411747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1978.411747 # Seafloor depth: -2053.411747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.497302 meters # Minimum depth: 2016.286760 meters looking forward 0.000000 meters along route # Maximum depth: 2016.286760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1941.286760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805105; longitude = -122.653877; captureRadius = 10; duration = 202; initialDepth = 1917.700259; finalDepth = 1941.286760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1941.28676 # Seafloor depth: -2016.286760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.497712 meters # Minimum depth: 1992.700259 meters looking forward 0.000000 meters along route # Maximum depth: 1992.700259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1917.700259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804474; longitude = -122.654690; captureRadius = 10; duration = 202; initialDepth = 1927.881084; finalDepth = 1917.700259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1917.700259 # Seafloor depth: -1992.700259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.498122 meters # Minimum depth: 2002.881084 meters looking forward 0.000000 meters along route # Maximum depth: 2002.881084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1927.881084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803843; longitude = -122.655504; captureRadius = 10; duration = 202; initialDepth = 1919.443184; finalDepth = 1927.881084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1927.881084 # Seafloor depth: -2002.881084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.498533 meters # Minimum depth: 1994.443184 meters looking forward 0.000000 meters along route # Maximum depth: 1994.443184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1919.443184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803212; longitude = -122.656318; captureRadius = 10; duration = 202; initialDepth = 1911.375850; finalDepth = 1919.443184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1919.443184 # Seafloor depth: -1994.443184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.498943 meters # Minimum depth: 1986.375850 meters looking forward 0.000000 meters along route # Maximum depth: 1986.375850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1911.375850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802581; longitude = -122.657131; captureRadius = 10; duration = 202; initialDepth = 1929.886700; finalDepth = 1911.375850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1911.37585 # Seafloor depth: -1986.375850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.499353 meters # Minimum depth: 2004.886700 meters looking forward 0.000000 meters along route # Maximum depth: 2004.886700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1929.886700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801950; longitude = -122.657945; captureRadius = 10; duration = 202; initialDepth = 1952.167654; finalDepth = 1929.886700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1929.8867 # Seafloor depth: -2004.886700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.499764 meters # Minimum depth: 2027.167654 meters looking forward 0.000000 meters along route # Maximum depth: 2027.167654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1952.167654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801319; longitude = -122.658759; captureRadius = 10; duration = 202; initialDepth = 1917.984482; finalDepth = 1952.167654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1952.167654 # Seafloor depth: -2027.167654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.122167 meters # Minimum depth: 1992.984482 meters looking forward 0.000000 meters along route # Maximum depth: 1992.984482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1917.984482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800688; longitude = -122.659572; captureRadius = 10; duration = 204; initialDepth = 1882.027151; finalDepth = 1917.984482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1917.984482 # Seafloor depth: -1992.984482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.878592 meters # Minimum depth: 1957.027151 meters looking forward 0.000000 meters along route # Maximum depth: 1957.027151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1882.027151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800053; longitude = -122.660391; captureRadius = 10; duration = 201; initialDepth = 1838.787331; finalDepth = 1882.027151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1882.027151 # Seafloor depth: -1957.027151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.500995 meters # Minimum depth: 1913.787331 meters looking forward 0.000000 meters along route # Maximum depth: 1913.787331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1838.787331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799426; longitude = -122.661200; captureRadius = 10; duration = 203; initialDepth = 1796.300895; finalDepth = 1838.787331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1838.787331 # Seafloor depth: -1913.787331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.501405 meters # Minimum depth: 1871.300895 meters looking forward 0.000000 meters along route # Maximum depth: 1871.300895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1796.300895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798795; longitude = -122.662013; captureRadius = 10; duration = 203; initialDepth = 1749.801378; finalDepth = 1796.300895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1796.300895 # Seafloor depth: -1871.300895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.501816 meters # Minimum depth: 1824.801378 meters looking forward 0.000000 meters along route # Maximum depth: 1824.801378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1749.801378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798165; longitude = -122.662827; captureRadius = 10; duration = 203; initialDepth = 1724.310974; finalDepth = 1749.801378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1749.801378 # Seafloor depth: -1824.801378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.502226 meters # Minimum depth: 1799.310974 meters looking forward 0.000000 meters along route # Maximum depth: 1799.310974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.310974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797534; longitude = -122.663641; captureRadius = 10; duration = 203; initialDepth = 1720.297421; finalDepth = 1724.310974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1724.310974 # Seafloor depth: -1799.310974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.502636 meters # Minimum depth: 1795.297421 meters looking forward 0.000000 meters along route # Maximum depth: 1795.297421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1720.297421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796903; longitude = -122.664455; captureRadius = 10; duration = 203; initialDepth = 1736.445810; finalDepth = 1720.297421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1720.297421 # Seafloor depth: -1795.297421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.503047 meters # Minimum depth: 1811.445810 meters looking forward 0.000000 meters along route # Maximum depth: 1811.445810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1736.445810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796272; longitude = -122.665268; captureRadius = 10; duration = 203; initialDepth = 1780.141476; finalDepth = 1736.445810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1736.44581 # Seafloor depth: -1811.445810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.503457 meters # Minimum depth: 1855.141476 meters looking forward 0.000000 meters along route # Maximum depth: 1855.141476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1780.141476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795641; longitude = -122.666082; captureRadius = 10; duration = 203; initialDepth = 1820.813717; finalDepth = 1780.141476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1780.141476 # Seafloor depth: -1855.141476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.503868 meters # Minimum depth: 1895.813717 meters looking forward 0.000000 meters along route # Maximum depth: 1895.813717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1820.813717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795010; longitude = -122.666896; captureRadius = 10; duration = 203; initialDepth = 1831.175362; finalDepth = 1820.813717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1820.813717 # Seafloor depth: -1895.813717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.504279 meters # Minimum depth: 1906.175362 meters looking forward 0.000000 meters along route # Maximum depth: 1906.175362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1831.175362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794379; longitude = -122.667709; captureRadius = 10; duration = 203; initialDepth = 1811.089851; finalDepth = 1831.175362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1831.175362 # Seafloor depth: -1906.175362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.978946 meters # Minimum depth: 1886.089851 meters looking forward 0.000000 meters along route # Maximum depth: 1886.089851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1811.089851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793748; longitude = -122.668523; captureRadius = 10; duration = 203; initialDepth = 1779.320335; finalDepth = 1811.089851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1811.089851 # Seafloor depth: -1886.089851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.030842 meters # Minimum depth: 1854.320335 meters looking forward 0.000000 meters along route # Maximum depth: 1854.320335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.320335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793114; longitude = -122.669340; captureRadius = 10; duration = 202; initialDepth = 1783.462486; finalDepth = 1779.320335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1779.320335 # Seafloor depth: -1854.320335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.505509 meters # Minimum depth: 1858.462486 meters looking forward 0.000000 meters along route # Maximum depth: 1858.462486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1783.462486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792486; longitude = -122.670150; captureRadius = 10; duration = 203; initialDepth = 1830.795281; finalDepth = 1783.462486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1783.462486 # Seafloor depth: -1858.462486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.505920 meters # Minimum depth: 1907.019286 meters looking forward 0.000000 meters along route # Maximum depth: 1907.019286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1830.795281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791855; longitude = -122.670964; captureRadius = 10; duration = 203; initialDepth = 1823.934080; finalDepth = 1830.795281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2240047281659 # Actual altitude: 76.2240047281659 # Commanded vehicle depth: 1830.79528127183 # Seafloor depth: -1907.019286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 304.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.506331 meters # Minimum depth: 1898.934080 meters looking forward 0.000000 meters along route # Maximum depth: 1898.934080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1823.934080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791224; longitude = -122.671778; captureRadius = 10; duration = 203; initialDepth = 1818.197993; finalDepth = 1823.934080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2240047281659 # Actual altitude: 76.2240047281659 # Commanded vehicle depth: 1823.93408 # Seafloor depth: -1898.934080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 304.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.506741 meters # Minimum depth: 1893.197993 meters looking forward 0.000000 meters along route # Maximum depth: 1893.197993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1818.197993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790593; longitude = -122.672591; captureRadius = 10; duration = 203; initialDepth = 1824.653293; finalDepth = 1818.197993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1818.197993 # Seafloor depth: -1893.197993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.507152 meters # Minimum depth: 1899.653293 meters looking forward 0.000000 meters along route # Maximum depth: 1899.653293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1824.653293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789962; longitude = -122.673405; captureRadius = 10; duration = 203; initialDepth = 1824.588127; finalDepth = 1824.653293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1824.653293 # Seafloor depth: -1899.653293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.507562 meters # Minimum depth: 1899.588127 meters looking forward 0.000000 meters along route # Maximum depth: 1899.588127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1824.588127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789331; longitude = -122.674219; captureRadius = 10; duration = 203; initialDepth = 1827.824308; finalDepth = 1824.588127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1824.588127 # Seafloor depth: -1899.588127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.507973 meters # Minimum depth: 1902.824308 meters looking forward 0.000000 meters along route # Maximum depth: 1902.824308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1827.824308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788700; longitude = -122.675032; captureRadius = 10; duration = 203; initialDepth = 1828.965885; finalDepth = 1827.824308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1827.824308 # Seafloor depth: -1902.824308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.508383 meters # Minimum depth: 1903.965885 meters looking forward 0.000000 meters along route # Maximum depth: 1903.965885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1828.965885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788069; longitude = -122.675846; captureRadius = 10; duration = 203; initialDepth = 1834.895067; finalDepth = 1828.965885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1828.965885 # Seafloor depth: -1903.965885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.508794 meters # Minimum depth: 1909.895067 meters looking forward 0.000000 meters along route # Maximum depth: 1909.895067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1834.895067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787439; longitude = -122.676660; captureRadius = 10; duration = 203; initialDepth = 1799.261409; finalDepth = 1834.895067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1834.895067 # Seafloor depth: -1909.895067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.835715 meters # Minimum depth: 1874.261409 meters looking forward 0.000000 meters along route # Maximum depth: 1874.261409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1799.261409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786808; longitude = -122.677473; captureRadius = 10; duration = 203; initialDepth = 1787.212410; finalDepth = 1799.261409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1799.261409 # Seafloor depth: -1874.261409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.183105 meters # Minimum depth: 1862.212410 meters looking forward 0.000000 meters along route # Maximum depth: 1862.212410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1787.212410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786175; longitude = -122.678290; captureRadius = 10; duration = 202; initialDepth = 1755.516176; finalDepth = 1787.212410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1787.21241 # Seafloor depth: -1862.212410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.510025 meters # Minimum depth: 1830.516176 meters looking forward 0.000000 meters along route # Maximum depth: 1830.516176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1755.516176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785546; longitude = -122.679101; captureRadius = 10; duration = 203; initialDepth = 1713.945030; finalDepth = 1755.516176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1755.516176 # Seafloor depth: -1830.516176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.510436 meters # Minimum depth: 1788.945030 meters looking forward 0.000000 meters along route # Maximum depth: 1788.945030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1713.945030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784915; longitude = -122.679914; captureRadius = 10; duration = 203; initialDepth = 1707.551917; finalDepth = 1713.945030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1713.94503 # Seafloor depth: -1788.945030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.510847 meters # Minimum depth: 1782.551917 meters looking forward 0.000000 meters along route # Maximum depth: 1782.551917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1707.551917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784284; longitude = -122.680728; captureRadius = 10; duration = 203; initialDepth = 1730.298473; finalDepth = 1707.551917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1707.551917 # Seafloor depth: -1782.551917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.511257 meters # Minimum depth: 1805.298473 meters looking forward 0.000000 meters along route # Maximum depth: 1805.298473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1730.298473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783653; longitude = -122.681542; captureRadius = 10; duration = 203; initialDepth = 1777.633949; finalDepth = 1730.298473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1730.298473 # Seafloor depth: -1805.298473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.511668 meters # Minimum depth: 1862.417589 meters looking forward 0.000000 meters along route # Maximum depth: 1862.417589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1777.633949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783022; longitude = -122.682355; captureRadius = 10; duration = 203; initialDepth = 1794.818354; finalDepth = 1777.633949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.7836403918006 # Actual altitude: 84.7836403918006 # Commanded vehicle depth: 1777.6339486082 # Seafloor depth: -1862.417589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 339.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.512079 meters # Minimum depth: 1869.818354 meters looking forward 0.000000 meters along route # Maximum depth: 1869.818354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1794.818354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782391; longitude = -122.683169; captureRadius = 10; duration = 203; initialDepth = 1797.299164; finalDepth = 1794.818354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.7836403918006 # Actual altitude: 84.7836403918006 # Commanded vehicle depth: 1794.818354 # Seafloor depth: -1869.818354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 339.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.984616 meters # Minimum depth: 1872.299164 meters looking forward 0.000000 meters along route # Maximum depth: 1872.299164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.299164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781760; longitude = -122.683983; captureRadius = 10; duration = 205; initialDepth = 1785.861247; finalDepth = 1797.299164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1797.299164 # Seafloor depth: -1872.299164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.040773 meters # Minimum depth: 1860.861247 meters looking forward 0.000000 meters along route # Maximum depth: 1860.861247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1785.861247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781120; longitude = -122.684808; captureRadius = 10; duration = 200; initialDepth = 1811.681169; finalDepth = 1785.861247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1785.861247 # Seafloor depth: -1860.861247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.513310 meters # Minimum depth: 1886.681169 meters looking forward 0.000000 meters along route # Maximum depth: 1886.681169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1811.681169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780498; longitude = -122.685610; captureRadius = 10; duration = 203; initialDepth = 1809.561714; finalDepth = 1811.681169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1811.681169 # Seafloor depth: -1886.681169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.692471 meters # Minimum depth: 1884.561714 meters looking forward 0.000000 meters along route # Maximum depth: 1884.561714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1809.561714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779867; longitude = -122.686424; captureRadius = 10; duration = 203; initialDepth = 1736.882670; finalDepth = 1809.561714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1809.561714 # Seafloor depth: -1884.561714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.335382 meters # Minimum depth: 1811.882670 meters looking forward 0.000000 meters along route # Maximum depth: 1811.882670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1736.882670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779235; longitude = -122.687239; captureRadius = 10; duration = 202; initialDepth = 1682.196539; finalDepth = 1736.882670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1736.88267 # Seafloor depth: -1811.882670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.514542 meters # Minimum depth: 1757.196539 meters looking forward 0.000000 meters along route # Maximum depth: 1757.196539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.196539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778605; longitude = -122.688051; captureRadius = 10; duration = 203; initialDepth = 1644.778535; finalDepth = 1682.196539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.196539 # Seafloor depth: -1757.196539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.514954 meters # Minimum depth: 1719.778535 meters looking forward 0.000000 meters along route # Maximum depth: 1719.778535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1644.778535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777974; longitude = -122.688865; captureRadius = 10; duration = 203; initialDepth = 1616.062439; finalDepth = 1644.778535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1644.778535 # Seafloor depth: -1719.778535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.515363 meters # Minimum depth: 1691.062439 meters looking forward 0.000000 meters along route # Maximum depth: 1691.062439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1616.062439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777343; longitude = -122.689679; captureRadius = 10; duration = 203; initialDepth = 1610.531015; finalDepth = 1616.062439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1616.062439 # Seafloor depth: -1691.062439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.515775 meters # Minimum depth: 1685.531015 meters looking forward 0.000000 meters along route # Maximum depth: 1685.531015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1610.531015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776713; longitude = -122.690492; captureRadius = 10; duration = 203; initialDepth = 1636.936091; finalDepth = 1610.531015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1610.531015 # Seafloor depth: -1685.531015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.516185 meters # Minimum depth: 1711.936091 meters looking forward 0.000000 meters along route # Maximum depth: 1711.936091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1636.936091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776082; longitude = -122.691306; captureRadius = 10; duration = 203; initialDepth = 1659.505625; finalDepth = 1636.936091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1636.936091 # Seafloor depth: -1711.936091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.516596 meters # Minimum depth: 1734.505625 meters looking forward 0.000000 meters along route # Maximum depth: 1734.505625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1659.505625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775451; longitude = -122.692120; captureRadius = 10; duration = 203; initialDepth = 1669.337359; finalDepth = 1659.505625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1659.505625 # Seafloor depth: -1734.505625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.841419 meters # Minimum depth: 1744.337359 meters looking forward 0.000000 meters along route # Maximum depth: 1744.337359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1669.337359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774820; longitude = -122.692933; captureRadius = 10; duration = 205; initialDepth = 1663.167788; finalDepth = 1669.337359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1669.337359 # Seafloor depth: -1744.337359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.193005 meters # Minimum depth: 1738.167788 meters looking forward 0.000000 meters along route # Maximum depth: 1738.167788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1663.167788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774181; longitude = -122.693758; captureRadius = 10; duration = 200; initialDepth = 1643.139076; finalDepth = 1663.167788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1663.167788 # Seafloor depth: -1738.167788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.517828 meters # Minimum depth: 1718.139076 meters looking forward 0.000000 meters along route # Maximum depth: 1718.139076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1643.139076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773558; longitude = -122.694561; captureRadius = 10; duration = 203; initialDepth = 1626.234705; finalDepth = 1643.139076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1643.139076 # Seafloor depth: -1718.139076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.549215 meters # Minimum depth: 1701.234705 meters looking forward 0.000000 meters along route # Maximum depth: 1701.234705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1626.234705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772927; longitude = -122.695374; captureRadius = 10; duration = 203; initialDepth = 1589.049783; finalDepth = 1626.234705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1626.234705 # Seafloor depth: -1701.234705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.487673 meters # Minimum depth: 1664.049783 meters looking forward 0.000000 meters along route # Maximum depth: 1664.049783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1589.049783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772296; longitude = -122.696188; captureRadius = 10; duration = 202; initialDepth = 1555.434931; finalDepth = 1589.049783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1589.049783 # Seafloor depth: -1664.049783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.519061 meters # Minimum depth: 1630.434931 meters looking forward 0.000000 meters along route # Maximum depth: 1630.434931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1555.434931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771665; longitude = -122.697002; captureRadius = 10; duration = 203; initialDepth = 1542.330888; finalDepth = 1555.434931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1555.434931 # Seafloor depth: -1630.434931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.519471 meters # Minimum depth: 1617.330888 meters looking forward 0.000000 meters along route # Maximum depth: 1617.330888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1542.330888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771034; longitude = -122.697815; captureRadius = 10; duration = 203; initialDepth = 1525.790261; finalDepth = 1542.330888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1542.330888 # Seafloor depth: -1617.330888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.519882 meters # Minimum depth: 1600.790261 meters looking forward 0.000000 meters along route # Maximum depth: 1600.790261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1525.790261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770403; longitude = -122.698629; captureRadius = 10; duration = 203; initialDepth = 1493.902972; finalDepth = 1525.790261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1525.790261 # Seafloor depth: -1600.790261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.520293 meters # Minimum depth: 1568.902972 meters looking forward 0.000000 meters along route # Maximum depth: 1568.902972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1493.902972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769772; longitude = -122.699443; captureRadius = 10; duration = 203; initialDepth = 1462.872456; finalDepth = 1493.902972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1493.902972 # Seafloor depth: -1568.902972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.520703 meters # Minimum depth: 1537.872456 meters looking forward 0.000000 meters along route # Maximum depth: 1537.872456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.872456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769141; longitude = -122.700256; captureRadius = 10; duration = 203; initialDepth = 1439.340011; finalDepth = 1462.872456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.872456 # Seafloor depth: -1537.872456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.521114 meters # Minimum depth: 1514.340011 meters looking forward 0.000000 meters along route # Maximum depth: 1514.340011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1439.340011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768510; longitude = -122.701070; captureRadius = 10; duration = 203; initialDepth = 1435.665258; finalDepth = 1439.340011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1439.340011 # Seafloor depth: -1514.340011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.698210 meters # Minimum depth: 1510.665258 meters looking forward 0.000000 meters along route # Maximum depth: 1510.665258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1435.665258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767879; longitude = -122.701884; captureRadius = 10; duration = 205; initialDepth = 1442.087047; finalDepth = 1435.665258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1435.665258 # Seafloor depth: -1510.665258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.345251 meters # Minimum depth: 1517.087047 meters looking forward 0.000000 meters along route # Maximum depth: 1517.087047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.087047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767241; longitude = -122.702707; captureRadius = 10; duration = 200; initialDepth = 1452.561681; finalDepth = 1442.087047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.087047 # Seafloor depth: -1517.087047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.522347 meters # Minimum depth: 1527.561681 meters looking forward 0.000000 meters along route # Maximum depth: 1527.561681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1452.561681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766618; longitude = -122.703511; captureRadius = 10; duration = 203; initialDepth = 1449.491347; finalDepth = 1452.561681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1452.561681 # Seafloor depth: -1527.561681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.522758 meters # Minimum depth: 1524.491347 meters looking forward 0.000000 meters along route # Maximum depth: 1524.491347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1449.491347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765987; longitude = -122.704325; captureRadius = 10; duration = 203; initialDepth = 1442.105502; finalDepth = 1449.491347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1449.491347 # Seafloor depth: -1524.491347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.523168 meters # Minimum depth: 1517.105502 meters looking forward 0.000000 meters along route # Maximum depth: 1517.105502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.105502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765356; longitude = -122.705138; captureRadius = 10; duration = 203; initialDepth = 1437.624146; finalDepth = 1442.105502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.105502 # Seafloor depth: -1517.105502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.523579 meters # Minimum depth: 1512.624146 meters looking forward 0.000000 meters along route # Maximum depth: 1512.624146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1437.624146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764725; longitude = -122.705952; captureRadius = 10; duration = 203; initialDepth = 1420.154312; finalDepth = 1437.624146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1437.624146 # Seafloor depth: -1512.624146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.523991 meters # Minimum depth: 1495.154312 meters looking forward 0.000000 meters along route # Maximum depth: 1495.154312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.154312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764094; longitude = -122.706766; captureRadius = 10; duration = 203; initialDepth = 1425.057822; finalDepth = 1420.154312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1420.154312 # Seafloor depth: -1495.154312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.524401 meters # Minimum depth: 1500.057822 meters looking forward 0.000000 meters along route # Maximum depth: 1500.057822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1425.057822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763463; longitude = -122.707580; captureRadius = 10; duration = 203; initialDepth = 1437.269093; finalDepth = 1425.057822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1425.057822 # Seafloor depth: -1500.057822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.524811 meters # Minimum depth: 1512.269093 meters looking forward 0.000000 meters along route # Maximum depth: 1512.269093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1437.269093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762832; longitude = -122.708393; captureRadius = 10; duration = 203; initialDepth = 1456.099667; finalDepth = 1437.269093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1437.269093 # Seafloor depth: -1512.269093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.525223 meters # Minimum depth: 1531.099667 meters looking forward 0.000000 meters along route # Maximum depth: 1531.099667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1456.099667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762201; longitude = -122.709207; captureRadius = 10; duration = 203; initialDepth = 1477.963114; finalDepth = 1456.099667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1456.099667 # Seafloor depth: -1531.099667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.525634 meters # Minimum depth: 1552.963114 meters looking forward 0.000000 meters along route # Maximum depth: 1552.963114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1477.963114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761570; longitude = -122.710021; captureRadius = 10; duration = 203; initialDepth = 1522.101023; finalDepth = 1477.963114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1477.963114 # Seafloor depth: -1552.963114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.554989 meters # Minimum depth: 1597.101023 meters looking forward 0.000000 meters along route # Maximum depth: 1597.101023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1522.101023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760939; longitude = -122.710834; captureRadius = 10; duration = 205; initialDepth = 1555.793902; finalDepth = 1522.101023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1522.101023 # Seafloor depth: -1597.101023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.497511 meters # Minimum depth: 1630.793902 meters looking forward 0.000000 meters along route # Maximum depth: 1630.793902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1555.793902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760302; longitude = -122.711656; captureRadius = 10; duration = 200; initialDepth = 1590.279478; finalDepth = 1555.793902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1555.793902 # Seafloor depth: -1630.793902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.526867 meters # Minimum depth: 1665.279478 meters looking forward 0.000000 meters along route # Maximum depth: 1665.279478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1590.279478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759677; longitude = -122.712462; captureRadius = 10; duration = 203; initialDepth = 1635.114540; finalDepth = 1590.279478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1590.279478 # Seafloor depth: -1665.279478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.527277 meters # Minimum depth: 1710.114540 meters looking forward 0.000000 meters along route # Maximum depth: 1710.114540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.114540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759046; longitude = -122.713275; captureRadius = 10; duration = 203; initialDepth = 1676.609684; finalDepth = 1635.114540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.11454 # Seafloor depth: -1710.114540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.527688 meters # Minimum depth: 1751.609684 meters looking forward 0.000000 meters along route # Maximum depth: 1751.609684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1676.609684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758415; longitude = -122.714089; captureRadius = 10; duration = 203; initialDepth = 1706.710290; finalDepth = 1676.609684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1676.609684 # Seafloor depth: -1751.609684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.528099 meters # Minimum depth: 1781.710290 meters looking forward 0.000000 meters along route # Maximum depth: 1781.710290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1706.710290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757784; longitude = -122.714903; captureRadius = 10; duration = 203; initialDepth = 1744.974413; finalDepth = 1706.710290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1706.71029 # Seafloor depth: -1781.710290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.528511 meters # Minimum depth: 1819.974413 meters looking forward 0.000000 meters along route # Maximum depth: 1819.974413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1744.974413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757153; longitude = -122.715716; captureRadius = 10; duration = 203; initialDepth = 1768.414020; finalDepth = 1744.974413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1744.974413 # Seafloor depth: -1819.974413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.730243 meters # Minimum depth: 1843.414020 meters looking forward 0.000000 meters along route # Maximum depth: 1843.414020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1768.414020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756522; longitude = -122.716530; captureRadius = 10; duration = 217; initialDepth = 1758.419049; finalDepth = 1768.414020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1768.41402 # Seafloor depth: -1843.414020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.946093 meters # Minimum depth: 1833.419049 meters looking forward 0.000000 meters along route # Maximum depth: 1833.419049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1758.419049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755847; longitude = -122.717401; captureRadius = 10; duration = 213; initialDepth = 1745.186615; finalDepth = 1758.419049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1758.419049 # Seafloor depth: -1833.419049 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 98.429533 meters # Minimum depth: 1820.186615 meters looking forward 0.000000 meters along route # Maximum depth: 1820.186615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1745.186615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755182; longitude = -122.718258; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 1734.182455; finalDepth = 1745.186615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1745.186615 # Seafloor depth: -1820.186615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.570467 meters # Minimum depth: 1809.182455 meters looking forward 0.000000 meters along route # Maximum depth: 1809.182455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1734.182455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754539; longitude = -122.717508; captureRadius = 10; duration = 203; initialDepth = 1698.569366; finalDepth = 1734.182455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1734.182455 # Seafloor depth: -1809.182455 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 137.158324 meters # Minimum depth: 1773.569366 meters looking forward 0.000000 meters along route # Maximum depth: 1773.569366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.569366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753876; longitude = -122.716733; captureRadius = 10; duration = 274; # abortOnTimeout = True; initialDepth = 1691.064991; finalDepth = 1698.569366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.569366 # Seafloor depth: -1773.569366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.097782 meters # Minimum depth: 1766.064991 meters looking forward 0.000000 meters along route # Maximum depth: 1766.064991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.064991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754729; longitude = -122.715634; captureRadius = 10; duration = 200; initialDepth = 1687.386679; finalDepth = 1691.064991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.064991 # Seafloor depth: -1766.064991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.530059 meters # Minimum depth: 1762.386679 meters looking forward 0.000000 meters along route # Maximum depth: 1762.386679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.386679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755351; longitude = -122.714831; captureRadius = 10; duration = 203; initialDepth = 1704.315225; finalDepth = 1687.386679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.386679 # Seafloor depth: -1762.386679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.664361 meters # Minimum depth: 1779.315225 meters looking forward 0.000000 meters along route # Maximum depth: 1779.315225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.315225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755982; longitude = -122.714018; captureRadius = 10; duration = 203; initialDepth = 1654.538895; finalDepth = 1704.315225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.315225 # Seafloor depth: -1779.315225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.394525 meters # Minimum depth: 1729.538895 meters looking forward 0.000000 meters along route # Maximum depth: 1729.538895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1654.538895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756613; longitude = -122.713203; captureRadius = 10; duration = 202; initialDepth = 1597.292836; finalDepth = 1654.538895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1654.538895 # Seafloor depth: -1729.538895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.528826 meters # Minimum depth: 1672.292836 meters looking forward 0.000000 meters along route # Maximum depth: 1672.292836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1597.292836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757244; longitude = -122.712390; captureRadius = 10; duration = 203; initialDepth = 1553.033105; finalDepth = 1597.292836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1597.292836 # Seafloor depth: -1672.292836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.528416 meters # Minimum depth: 1628.033105 meters looking forward 0.000000 meters along route # Maximum depth: 1628.033105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1553.033105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757874; longitude = -122.711577; captureRadius = 10; duration = 203; initialDepth = 1522.556828; finalDepth = 1553.033105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1553.033105 # Seafloor depth: -1628.033105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.528004 meters # Minimum depth: 1597.556828 meters looking forward 0.000000 meters along route # Maximum depth: 1597.556828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1522.556828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758505; longitude = -122.710763; captureRadius = 10; duration = 203; initialDepth = 1482.263598; finalDepth = 1522.556828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1522.556828 # Seafloor depth: -1597.556828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.527594 meters # Minimum depth: 1557.263598 meters looking forward 0.000000 meters along route # Maximum depth: 1557.263598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1482.263598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759136; longitude = -122.709949; captureRadius = 10; duration = 203; initialDepth = 1436.385808; finalDepth = 1482.263598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1482.263598 # Seafloor depth: -1557.263598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.527183 meters # Minimum depth: 1511.385808 meters looking forward 0.000000 meters along route # Maximum depth: 1511.385808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1436.385808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759767; longitude = -122.709136; captureRadius = 10; duration = 203; initialDepth = 1392.383803; finalDepth = 1436.385808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1436.385808 # Seafloor depth: -1511.385808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.526772 meters # Minimum depth: 1467.383803 meters looking forward 0.000000 meters along route # Maximum depth: 1467.383803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1392.383803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760398; longitude = -122.708322; captureRadius = 10; duration = 203; initialDepth = 1348.829608; finalDepth = 1392.383803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1392.383803 # Seafloor depth: -1467.383803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.795121 meters # Minimum depth: 1423.829608 meters looking forward 0.000000 meters along route # Maximum depth: 1423.829608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1348.829608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761029; longitude = -122.707508; captureRadius = 10; duration = 205; initialDepth = 1319.077852; finalDepth = 1348.829608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1348.829608 # Seafloor depth: -1423.829608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.257190 meters # Minimum depth: 1394.077852 meters looking forward 0.000000 meters along route # Maximum depth: 1394.077852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1319.077852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761668; longitude = -122.706684; captureRadius = 10; duration = 200; initialDepth = 1299.785594; finalDepth = 1319.077852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1319.077852 # Seafloor depth: -1394.077852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.525540 meters # Minimum depth: 1374.785594 meters looking forward 0.000000 meters along route # Maximum depth: 1374.785594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1299.785594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762291; longitude = -122.705881; captureRadius = 10; duration = 203; initialDepth = 1299.555531; finalDepth = 1299.785594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1299.785594 # Seafloor depth: -1374.785594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.525128 meters # Minimum depth: 1374.555531 meters looking forward 0.000000 meters along route # Maximum depth: 1374.555531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1299.555531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762922; longitude = -122.705067; captureRadius = 10; duration = 203; initialDepth = 1340.869960; finalDepth = 1299.555531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1299.555531 # Seafloor depth: -1374.555531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.524718 meters # Minimum depth: 1415.869960 meters looking forward 0.000000 meters along route # Maximum depth: 1415.869960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1340.869960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763553; longitude = -122.704253; captureRadius = 10; duration = 203; initialDepth = 1366.574046; finalDepth = 1340.869960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1340.86996 # Seafloor depth: -1415.869960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.524307 meters # Minimum depth: 1441.574046 meters looking forward 0.000000 meters along route # Maximum depth: 1441.574046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1366.574046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764184; longitude = -122.703440; captureRadius = 10; duration = 203; initialDepth = 1327.961512; finalDepth = 1366.574046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1366.574046 # Seafloor depth: -1441.574046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.523896 meters # Minimum depth: 1402.961512 meters looking forward 0.000000 meters along route # Maximum depth: 1402.961512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1327.961512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764815; longitude = -122.702626; captureRadius = 10; duration = 203; initialDepth = 1353.777213; finalDepth = 1327.961512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1327.961512 # Seafloor depth: -1402.961512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.523485 meters # Minimum depth: 1428.777213 meters looking forward 0.000000 meters along route # Maximum depth: 1428.777213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1353.777213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765446; longitude = -122.701812; captureRadius = 10; duration = 203; initialDepth = 1353.645967; finalDepth = 1353.777213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1353.777213 # Seafloor depth: -1428.777213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.523075 meters # Minimum depth: 1428.645967 meters looking forward 0.000000 meters along route # Maximum depth: 1428.645967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1353.645967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766077; longitude = -122.700999; captureRadius = 10; duration = 203; initialDepth = 1371.944354; finalDepth = 1353.645967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1353.645967 # Seafloor depth: -1428.645967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.522664 meters # Minimum depth: 1446.944354 meters looking forward 0.000000 meters along route # Maximum depth: 1446.944354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1371.944354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766708; longitude = -122.700185; captureRadius = 10; duration = 203; initialDepth = 1387.441700; finalDepth = 1371.944354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1371.944354 # Seafloor depth: -1446.944354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.522253 meters # Minimum depth: 1462.441700 meters looking forward 0.000000 meters along route # Maximum depth: 1462.441700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1387.441700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767339; longitude = -122.699371; captureRadius = 10; duration = 203; initialDepth = 1401.481112; finalDepth = 1387.441700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1387.4417 # Seafloor depth: -1462.441700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.626689 meters # Minimum depth: 1476.481112 meters looking forward 0.000000 meters along route # Maximum depth: 1476.481112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1401.481112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767970; longitude = -122.698558; captureRadius = 10; duration = 205; initialDepth = 1449.336722; finalDepth = 1401.481112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1401.481112 # Seafloor depth: -1476.481112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.416584 meters # Minimum depth: 1541.812818 meters looking forward 0.000000 meters along route # Maximum depth: 1541.812818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1449.336722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768607; longitude = -122.697735; captureRadius = 10; duration = 200; initialDepth = 1496.161743; finalDepth = 1449.336722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.4760959181579 # Actual altitude: 92.4760959181579 # Commanded vehicle depth: 1449.33672208184 # Seafloor depth: -1541.812818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.521021 meters # Minimum depth: 1609.707774 meters looking forward 0.000000 meters along route # Maximum depth: 1609.707774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1496.161743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769231; longitude = -122.696930; captureRadius = 10; duration = 203; initialDepth = 1543.501772; finalDepth = 1496.161743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.546030703114 # Actual altitude: 100 # Commanded vehicle depth: 1496.16174329689 # Seafloor depth: -1609.707774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.520610 meters # Minimum depth: 1662.999786 meters looking forward 0.000000 meters along route # Maximum depth: 1662.999786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1543.501772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769862; longitude = -122.696117; captureRadius = 10; duration = 203; initialDepth = 1590.841609; finalDepth = 1543.501772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.498014067028 # Actual altitude: 100 # Commanded vehicle depth: 1543.50177193297 # Seafloor depth: -1662.999786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.520199 meters # Minimum depth: 1684.056905 meters looking forward 0.000000 meters along route # Maximum depth: 1684.056905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1590.841609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770493; longitude = -122.695303; captureRadius = 10; duration = 203; initialDepth = 1616.703558; finalDepth = 1590.841609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.498014067028 # Actual altitude: 100 # Commanded vehicle depth: 1590.84160891661 # Seafloor depth: -1684.056905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.519789 meters # Minimum depth: 1691.703558 meters looking forward 0.000000 meters along route # Maximum depth: 1691.703558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1616.703558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771124; longitude = -122.694489; captureRadius = 10; duration = 203; initialDepth = 1621.002097; finalDepth = 1616.703558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.2152960833864 # Actual altitude: 93.2152960833864 # Commanded vehicle depth: 1616.703558 # Seafloor depth: -1691.703558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.519377 meters # Minimum depth: 1696.002097 meters looking forward 0.000000 meters along route # Maximum depth: 1696.002097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1621.002097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771755; longitude = -122.693675; captureRadius = 10; duration = 203; initialDepth = 1603.111485; finalDepth = 1621.002097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1621.002097 # Seafloor depth: -1696.002097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.518967 meters # Minimum depth: 1678.111485 meters looking forward 0.000000 meters along route # Maximum depth: 1678.111485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1603.111485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772386; longitude = -122.692862; captureRadius = 10; duration = 203; initialDepth = 1563.924965; finalDepth = 1603.111485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1603.111485 # Seafloor depth: -1678.111485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.518557 meters # Minimum depth: 1638.924965 meters looking forward 0.000000 meters along route # Maximum depth: 1638.924965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1563.924965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773017; longitude = -122.692048; captureRadius = 10; duration = 203; initialDepth = 1555.666569; finalDepth = 1563.924965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1563.924965 # Seafloor depth: -1638.924965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.518145 meters # Minimum depth: 1630.666569 meters looking forward 0.000000 meters along route # Maximum depth: 1630.666569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1555.666569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773648; longitude = -122.691234; captureRadius = 10; duration = 203; initialDepth = 1579.719576; finalDepth = 1555.666569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1555.666569 # Seafloor depth: -1630.666569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.517735 meters # Minimum depth: 1654.719576 meters looking forward 0.000000 meters along route # Maximum depth: 1654.719576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1579.719576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774279; longitude = -122.690421; captureRadius = 10; duration = 203; initialDepth = 1591.644189; finalDepth = 1579.719576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1579.719576 # Seafloor depth: -1654.719576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.458274 meters # Minimum depth: 1666.644189 meters looking forward 0.000000 meters along route # Maximum depth: 1666.644189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1591.644189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774910; longitude = -122.689607; captureRadius = 10; duration = 204; initialDepth = 1629.953871; finalDepth = 1591.644189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1591.644189 # Seafloor depth: -1666.644189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.575964 meters # Minimum depth: 1704.953871 meters looking forward 0.000000 meters along route # Maximum depth: 1704.953871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.953871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775547; longitude = -122.688786; captureRadius = 10; duration = 201; initialDepth = 1654.570536; finalDepth = 1629.953871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.953871 # Seafloor depth: -1704.953871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.516503 meters # Minimum depth: 1729.570536 meters looking forward 0.000000 meters along route # Maximum depth: 1729.570536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1654.570536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776172; longitude = -122.687980; captureRadius = 10; duration = 203; initialDepth = 1691.322156; finalDepth = 1654.570536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1654.570536 # Seafloor depth: -1729.570536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.516093 meters # Minimum depth: 1766.322156 meters looking forward 0.000000 meters along route # Maximum depth: 1766.322156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.322156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776803; longitude = -122.687166; captureRadius = 10; duration = 203; initialDepth = 1701.713177; finalDepth = 1691.322156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.322156 # Seafloor depth: -1766.322156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.515681 meters # Minimum depth: 1776.713177 meters looking forward 0.000000 meters along route # Maximum depth: 1776.713177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.713177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777434; longitude = -122.686352; captureRadius = 10; duration = 203; initialDepth = 1749.050716; finalDepth = 1701.713177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1701.713177 # Seafloor depth: -1776.713177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.515271 meters # Minimum depth: 1824.205448 meters looking forward 0.000000 meters along route # Maximum depth: 1824.205448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1749.050716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778065; longitude = -122.685539; captureRadius = 10; duration = 203; initialDepth = 1749.501525; finalDepth = 1749.050716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1547324467581 # Actual altitude: 75.1547324467581 # Commanded vehicle depth: 1749.05071555324 # Seafloor depth: -1824.205448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.514861 meters # Minimum depth: 1824.501525 meters looking forward 0.000000 meters along route # Maximum depth: 1824.501525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1749.501525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778696; longitude = -122.684725; captureRadius = 10; duration = 203; initialDepth = 1732.764119; finalDepth = 1749.501525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1547324467581 # Actual altitude: 75.1547324467581 # Commanded vehicle depth: 1749.501525 # Seafloor depth: -1824.501525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.514450 meters # Minimum depth: 1807.764119 meters looking forward 0.000000 meters along route # Maximum depth: 1807.764119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1732.764119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779326; longitude = -122.683911; captureRadius = 10; duration = 203; initialDepth = 1716.436121; finalDepth = 1732.764119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1732.764119 # Seafloor depth: -1807.764119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.514039 meters # Minimum depth: 1791.436121 meters looking forward 0.000000 meters along route # Maximum depth: 1791.436121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1716.436121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779957; longitude = -122.683097; captureRadius = 10; duration = 203; initialDepth = 1658.893491; finalDepth = 1716.436121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1716.436121 # Seafloor depth: -1791.436121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.513629 meters # Minimum depth: 1733.893491 meters looking forward 0.000000 meters along route # Maximum depth: 1733.893491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1658.893491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780588; longitude = -122.682284; captureRadius = 10; duration = 203; initialDepth = 1698.297553; finalDepth = 1658.893491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1658.893491 # Seafloor depth: -1733.893491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.513218 meters # Minimum depth: 1773.297553 meters looking forward 0.000000 meters along route # Maximum depth: 1773.297553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.297553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781219; longitude = -122.681470; captureRadius = 10; duration = 203; initialDepth = 1715.530095; finalDepth = 1698.297553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.297553 # Seafloor depth: -1773.297553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.289872 meters # Minimum depth: 1790.530095 meters looking forward 0.000000 meters along route # Maximum depth: 1790.530095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1715.530095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781850; longitude = -122.680656; captureRadius = 10; duration = 204; initialDepth = 1698.019860; finalDepth = 1715.530095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1715.530095 # Seafloor depth: -1790.530095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.735332 meters # Minimum depth: 1773.019860 meters looking forward 0.000000 meters along route # Maximum depth: 1773.019860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.019860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782486; longitude = -122.679836; captureRadius = 10; duration = 201; initialDepth = 1690.941329; finalDepth = 1698.019860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.01986 # Seafloor depth: -1773.019860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.511986 meters # Minimum depth: 1765.941329 meters looking forward 0.000000 meters along route # Maximum depth: 1765.941329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1690.941329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783112; longitude = -122.679029; captureRadius = 10; duration = 203; initialDepth = 1683.717494; finalDepth = 1690.941329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1690.941329 # Seafloor depth: -1765.941329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.511576 meters # Minimum depth: 1758.717494 meters looking forward 0.000000 meters along route # Maximum depth: 1758.717494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1683.717494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783743; longitude = -122.678215; captureRadius = 10; duration = 203; initialDepth = 1685.819545; finalDepth = 1683.717494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1683.717494 # Seafloor depth: -1758.717494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.511165 meters # Minimum depth: 1760.819545 meters looking forward 0.000000 meters along route # Maximum depth: 1760.819545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.819545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784374; longitude = -122.677402; captureRadius = 10; duration = 203; initialDepth = 1694.451257; finalDepth = 1685.819545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.819545 # Seafloor depth: -1760.819545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.510755 meters # Minimum depth: 1769.451257 meters looking forward 0.000000 meters along route # Maximum depth: 1769.451257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.451257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785005; longitude = -122.676588; captureRadius = 10; duration = 203; initialDepth = 1741.786499; finalDepth = 1694.451257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.451257 # Seafloor depth: -1769.451257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.510344 meters # Minimum depth: 1828.873409 meters looking forward 0.000000 meters along route # Maximum depth: 1828.873409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1741.786499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785636; longitude = -122.675774; captureRadius = 10; duration = 203; initialDepth = 1789.121548; finalDepth = 1741.786499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.0869104782419 # Actual altitude: 87.0869104782419 # Commanded vehicle depth: 1741.78649852176 # Seafloor depth: -1828.873409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 348.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.509934 meters # Minimum depth: 1883.788027 meters looking forward 0.000000 meters along route # Maximum depth: 1883.788027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1789.121548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786267; longitude = -122.674961; captureRadius = 10; duration = 203; initialDepth = 1825.387286; finalDepth = 1789.121548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.6664786089245 # Actual altitude: 94.6664786089245 # Commanded vehicle depth: 1789.12154839108 # Seafloor depth: -1883.788027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.509523 meters # Minimum depth: 1900.387286 meters looking forward 0.000000 meters along route # Maximum depth: 1900.387286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1825.387286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786898; longitude = -122.674147; captureRadius = 10; duration = 203; initialDepth = 1810.230494; finalDepth = 1825.387286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.6664786089245 # Actual altitude: 94.6664786089245 # Commanded vehicle depth: 1825.387286 # Seafloor depth: -1900.387286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.509113 meters # Minimum depth: 1885.230494 meters looking forward 0.000000 meters along route # Maximum depth: 1885.230494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1810.230494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787529; longitude = -122.673333; captureRadius = 10; duration = 203; initialDepth = 1759.891135; finalDepth = 1810.230494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1810.230494 # Seafloor depth: -1885.230494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.508702 meters # Minimum depth: 1834.891135 meters looking forward 0.000000 meters along route # Maximum depth: 1834.891135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1759.891135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788160; longitude = -122.672519; captureRadius = 10; duration = 203; initialDepth = 1727.540191; finalDepth = 1759.891135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1759.891135 # Seafloor depth: -1834.891135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.121487 meters # Minimum depth: 1802.540191 meters looking forward 0.000000 meters along route # Maximum depth: 1802.540191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1727.540191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788791; longitude = -122.671706; captureRadius = 10; duration = 204; initialDepth = 1695.539170; finalDepth = 1727.540191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1727.540191 # Seafloor depth: -1802.540191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.894686 meters # Minimum depth: 1770.539170 meters looking forward 0.000000 meters along route # Maximum depth: 1770.539170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1695.539170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789425; longitude = -122.670887; captureRadius = 10; duration = 201; initialDepth = 1685.981848; finalDepth = 1695.539170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1695.53917 # Seafloor depth: -1770.539170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.507470 meters # Minimum depth: 1760.981848 meters looking forward 0.000000 meters along route # Maximum depth: 1760.981848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.981848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790052; longitude = -122.670078; captureRadius = 10; duration = 203; initialDepth = 1725.442623; finalDepth = 1685.981848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.981848 # Seafloor depth: -1760.981848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.507060 meters # Minimum depth: 1800.442623 meters looking forward 0.000000 meters along route # Maximum depth: 1800.442623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1725.442623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790683; longitude = -122.669265; captureRadius = 10; duration = 203; initialDepth = 1763.040469; finalDepth = 1725.442623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1725.442623 # Seafloor depth: -1800.442623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.506650 meters # Minimum depth: 1838.040469 meters looking forward 0.000000 meters along route # Maximum depth: 1838.040469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1763.040469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791314; longitude = -122.668451; captureRadius = 10; duration = 203; initialDepth = 1770.377132; finalDepth = 1763.040469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1763.040469 # Seafloor depth: -1838.040469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.506240 meters # Minimum depth: 1845.377132 meters looking forward 0.000000 meters along route # Maximum depth: 1845.377132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1770.377132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791945; longitude = -122.667637; captureRadius = 10; duration = 203; initialDepth = 1779.657663; finalDepth = 1770.377132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1770.377132 # Seafloor depth: -1845.377132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.505828 meters # Minimum depth: 1854.657663 meters looking forward 0.000000 meters along route # Maximum depth: 1854.657663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.657663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792576; longitude = -122.666824; captureRadius = 10; duration = 203; initialDepth = 1768.091193; finalDepth = 1779.657663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1779.657663 # Seafloor depth: -1854.657663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.505419 meters # Minimum depth: 1843.091193 meters looking forward 0.000000 meters along route # Maximum depth: 1843.091193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1768.091193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793207; longitude = -122.666010; captureRadius = 10; duration = 203; initialDepth = 1739.112761; finalDepth = 1768.091193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1768.091193 # Seafloor depth: -1843.091193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.505008 meters # Minimum depth: 1814.112761 meters looking forward 0.000000 meters along route # Maximum depth: 1814.112761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1739.112761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793838; longitude = -122.665196; captureRadius = 10; duration = 203; initialDepth = 1720.247677; finalDepth = 1739.112761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1739.112761 # Seafloor depth: -1814.112761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.504598 meters # Minimum depth: 1795.247677 meters looking forward 0.000000 meters along route # Maximum depth: 1795.247677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1720.247677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794469; longitude = -122.664383; captureRadius = 10; duration = 203; initialDepth = 1666.751612; finalDepth = 1720.247677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1720.247677 # Seafloor depth: -1795.247677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.504187 meters # Minimum depth: 1741.751612 meters looking forward 0.000000 meters along route # Maximum depth: 1741.751612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1666.751612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795100; longitude = -122.663569; captureRadius = 10; duration = 203; initialDepth = 1631.427112; finalDepth = 1666.751612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1666.751612 # Seafloor depth: -1741.751612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.953118 meters # Minimum depth: 1706.427112 meters looking forward 0.000000 meters along route # Maximum depth: 1706.427112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1631.427112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795731; longitude = -122.662755; captureRadius = 10; duration = 203; initialDepth = 1649.674011; finalDepth = 1631.427112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1631.427112 # Seafloor depth: -1706.427112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.054025 meters # Minimum depth: 1724.674011 meters looking forward 0.000000 meters along route # Maximum depth: 1724.674011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.674011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796365; longitude = -122.661938; captureRadius = 10; duration = 202; initialDepth = 1691.335300; finalDepth = 1649.674011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.674011 # Seafloor depth: -1724.674011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.502956 meters # Minimum depth: 1766.335300 meters looking forward 0.000000 meters along route # Maximum depth: 1766.335300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.335300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -122.661128; captureRadius = 10; duration = 203; initialDepth = 1728.135961; finalDepth = 1691.335300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.3353 # Seafloor depth: -1766.335300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.502546 meters # Minimum depth: 1803.135961 meters looking forward 0.000000 meters along route # Maximum depth: 1803.135961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1728.135961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797624; longitude = -122.660314; captureRadius = 10; duration = 203; initialDepth = 1768.015379; finalDepth = 1728.135961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1728.135961 # Seafloor depth: -1803.135961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.502135 meters # Minimum depth: 1843.015379 meters looking forward 0.000000 meters along route # Maximum depth: 1843.015379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1768.015379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798255; longitude = -122.659500; captureRadius = 10; duration = 203; initialDepth = 1813.655064; finalDepth = 1768.015379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1768.015379 # Seafloor depth: -1843.015379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.501725 meters # Minimum depth: 1888.655064 meters looking forward 0.000000 meters along route # Maximum depth: 1888.655064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1813.655064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798886; longitude = -122.658687; captureRadius = 10; duration = 203; initialDepth = 1837.225526; finalDepth = 1813.655064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1813.655064 # Seafloor depth: -1888.655064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.501315 meters # Minimum depth: 1912.225526 meters looking forward 0.000000 meters along route # Maximum depth: 1912.225526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1837.225526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799517; longitude = -122.657873; captureRadius = 10; duration = 203; initialDepth = 1884.556366; finalDepth = 1837.225526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1837.225526 # Seafloor depth: -1912.225526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.500904 meters # Minimum depth: 1972.698185 meters looking forward 0.000000 meters along route # Maximum depth: 1972.698185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1884.556366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800147; longitude = -122.657059; captureRadius = 10; duration = 203; initialDepth = 1905.287156; finalDepth = 1884.556366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.1418194224466 # Actual altitude: 88.1418194224466 # Commanded vehicle depth: 1884.55636557755 # Seafloor depth: -1972.698185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.500494 meters # Minimum depth: 1980.287156 meters looking forward 0.000000 meters along route # Maximum depth: 1980.287156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1905.287156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800778; longitude = -122.656246; captureRadius = 10; duration = 203; initialDepth = 1899.331327; finalDepth = 1905.287156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.1418194224466 # Actual altitude: 88.1418194224466 # Commanded vehicle depth: 1905.287156 # Seafloor depth: -1980.287156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.500084 meters # Minimum depth: 1974.331327 meters looking forward 0.000000 meters along route # Maximum depth: 1974.331327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1899.331327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801409; longitude = -122.655432; captureRadius = 10; duration = 203; initialDepth = 1884.659386; finalDepth = 1899.331327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1899.331327 # Seafloor depth: -1974.331327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.499673 meters # Minimum depth: 1959.659386 meters looking forward 0.000000 meters along route # Maximum depth: 1959.659386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1884.659386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802040; longitude = -122.654618; captureRadius = 10; duration = 202; initialDepth = 1888.514448; finalDepth = 1884.659386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1884.659386 # Seafloor depth: -1959.659386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.784765 meters # Minimum depth: 1963.514448 meters looking forward 0.000000 meters along route # Maximum depth: 1963.514448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1888.514448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802671; longitude = -122.653805; captureRadius = 10; duration = 203; initialDepth = 1896.729325; finalDepth = 1888.514448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1888.514448 # Seafloor depth: -1963.514448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.213351 meters # Minimum depth: 1971.729325 meters looking forward 0.000000 meters along route # Maximum depth: 1971.729325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1896.729325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803304; longitude = -122.652989; captureRadius = 10; duration = 202; initialDepth = 1917.970766; finalDepth = 1896.729325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1896.729325 # Seafloor depth: -1971.729325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.498443 meters # Minimum depth: 1992.970766 meters looking forward 0.000000 meters along route # Maximum depth: 1992.970766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1917.970766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803933; longitude = -122.652177; captureRadius = 10; duration = 202; initialDepth = 1941.227679; finalDepth = 1917.970766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1917.970766 # Seafloor depth: -1992.970766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.498032 meters # Minimum depth: 2016.227679 meters looking forward 0.000000 meters along route # Maximum depth: 2016.227679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1941.227679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804564; longitude = -122.651364; captureRadius = 10; duration = 202; initialDepth = 1937.149602; finalDepth = 1941.227679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1941.227679 # Seafloor depth: -2016.227679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.497622 meters # Minimum depth: 2012.149602 meters looking forward 0.000000 meters along route # Maximum depth: 2012.149602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1937.149602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805195; longitude = -122.650550; captureRadius = 10; duration = 202; initialDepth = 1937.589764; finalDepth = 1937.149602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1937.149602 # Seafloor depth: -2012.149602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.497212 meters # Minimum depth: 2012.589764 meters looking forward 0.000000 meters along route # Maximum depth: 2012.589764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1937.589764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805826; longitude = -122.649736; captureRadius = 10; duration = 202; initialDepth = 1939.090722; finalDepth = 1937.589764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1937.589764 # Seafloor depth: -2012.589764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.496801 meters # Minimum depth: 2014.090722 meters looking forward 0.000000 meters along route # Maximum depth: 2014.090722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1939.090722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806457; longitude = -122.648922; captureRadius = 10; duration = 202; initialDepth = 1965.453777; finalDepth = 1939.090722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1939.090722 # Seafloor depth: -2014.090722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.496391 meters # Minimum depth: 2040.453777 meters looking forward 0.000000 meters along route # Maximum depth: 2040.453777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1965.453777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807088; longitude = -122.648109; captureRadius = 10; duration = 202; initialDepth = 1981.787430; finalDepth = 1965.453777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1965.453777 # Seafloor depth: -2040.453777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.915186 meters # Minimum depth: 2056.787430 meters looking forward 0.000000 meters along route # Maximum depth: 2056.787430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1981.787430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807719; longitude = -122.647295; captureRadius = 10; duration = 205; initialDepth = 2012.530808; finalDepth = 1981.787430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1981.78743 # Seafloor depth: -2056.787430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.076366 meters # Minimum depth: 2087.530808 meters looking forward 0.000000 meters along route # Maximum depth: 2087.530808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2012.530808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808359; longitude = -122.646470; captureRadius = 10; duration = 200; initialDepth = 1992.372434; finalDepth = 2012.530808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2012.530808 # Seafloor depth: -2087.530808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.495161 meters # Minimum depth: 2067.372434 meters looking forward 0.000000 meters along route # Maximum depth: 2067.372434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1992.372434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808981; longitude = -122.645668; captureRadius = 10; duration = 202; initialDepth = 1981.645966; finalDepth = 1992.372434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1992.372434 # Seafloor depth: -2067.372434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.616426 meters # Minimum depth: 2056.645966 meters looking forward 0.000000 meters along route # Maximum depth: 2056.645966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1981.645966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809612; longitude = -122.644854; captureRadius = 10; duration = 203; initialDepth = 1991.086924; finalDepth = 1981.645966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1981.645966 # Seafloor depth: -2056.645966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 110.983989 meters # Minimum depth: 2066.086924 meters looking forward 0.000000 meters along route # Maximum depth: 2066.086924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1991.086924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810243; longitude = -122.644039; captureRadius = 10; duration = 221; initialDepth = 2020.540649; finalDepth = 1991.086924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1991.086924 # Seafloor depth: -2066.086924 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 86.140575 meters # Minimum depth: 2095.540649 meters looking forward 0.000000 meters along route # Maximum depth: 2095.540649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2020.540649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810933; longitude = -122.643150; captureRadius = 10; duration = 172; # abortOnTimeout = True; initialDepth = 2060.026229; finalDepth = 2020.540649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2020.540649 # Seafloor depth: -2095.540649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 113.859425 meters # Minimum depth: 2135.026229 meters looking forward 0.000000 meters along route # Maximum depth: 2135.026229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2060.026229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810370; longitude = -122.642493; captureRadius = 10; duration = 227; initialDepth = 2111.323181; finalDepth = 2060.026229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2060.026229 # Seafloor depth: -2135.026229 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 132.885599 meters # Minimum depth: 2186.323181 meters looking forward 0.000000 meters along route # Maximum depth: 2186.323181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2111.323181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809626; longitude = -122.641624; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 2100.964449; finalDepth = 2111.323181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2111.323181 # Seafloor depth: -2186.323181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.496478 meters # Minimum depth: 2175.964449 meters looking forward 0.000000 meters along route # Maximum depth: 2175.964449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2100.964449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808800; longitude = -122.642689; captureRadius = 10; duration = 202; initialDepth = 2094.298992; finalDepth = 2100.964449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2100.964449 # Seafloor depth: -2175.964449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.496888 meters # Minimum depth: 2169.298992 meters looking forward 0.000000 meters along route # Maximum depth: 2169.298992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2094.298992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808169; longitude = -122.643503; captureRadius = 10; duration = 202; initialDepth = 2106.513326; finalDepth = 2094.298992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2094.298992 # Seafloor depth: -2169.298992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.497297 meters # Minimum depth: 2181.513326 meters looking forward 0.000000 meters along route # Maximum depth: 2181.513326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2106.513326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807539; longitude = -122.644317; captureRadius = 10; duration = 202; initialDepth = 2102.323781; finalDepth = 2106.513326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2106.513326 # Seafloor depth: -2181.513326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.497708 meters # Minimum depth: 2177.323781 meters looking forward 0.000000 meters along route # Maximum depth: 2177.323781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2102.323781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806908; longitude = -122.645131; captureRadius = 10; duration = 202; initialDepth = 2101.126518; finalDepth = 2102.323781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2102.323781 # Seafloor depth: -2177.323781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.498119 meters # Minimum depth: 2176.126518 meters looking forward 0.000000 meters along route # Maximum depth: 2176.126518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2101.126518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806277; longitude = -122.645944; captureRadius = 10; duration = 202; initialDepth = 2064.941539; finalDepth = 2101.126518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2101.126518 # Seafloor depth: -2176.126518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.894645 meters # Minimum depth: 2139.941539 meters looking forward 0.000000 meters along route # Maximum depth: 2139.941539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2064.941539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805646; longitude = -122.646758; captureRadius = 10; duration = 203; initialDepth = 2034.432181; finalDepth = 2064.941539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2064.941539 # Seafloor depth: -2139.941539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.102822 meters # Minimum depth: 2109.432181 meters looking forward 0.000000 meters along route # Maximum depth: 2109.432181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2034.432181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805012; longitude = -122.647575; captureRadius = 10; duration = 202; initialDepth = 1996.267778; finalDepth = 2034.432181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2034.432181 # Seafloor depth: -2109.432181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.499349 meters # Minimum depth: 2071.267778 meters looking forward 0.000000 meters along route # Maximum depth: 2071.267778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1996.267778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804384; longitude = -122.648385; captureRadius = 10; duration = 202; initialDepth = 1952.078574; finalDepth = 1996.267778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1996.267778 # Seafloor depth: -2071.267778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.499759 meters # Minimum depth: 2027.078574 meters looking forward 0.000000 meters along route # Maximum depth: 2027.078574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1952.078574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803753; longitude = -122.649199; captureRadius = 10; duration = 202; initialDepth = 1916.880262; finalDepth = 1952.078574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1952.078574 # Seafloor depth: -2027.078574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.500169 meters # Minimum depth: 1991.880262 meters looking forward 0.000000 meters along route # Maximum depth: 1991.880262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1916.880262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803122; longitude = -122.650013; captureRadius = 10; duration = 203; initialDepth = 1905.862898; finalDepth = 1916.880262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1916.880262 # Seafloor depth: -1991.880262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.500580 meters # Minimum depth: 1980.862898 meters looking forward 0.000000 meters along route # Maximum depth: 1980.862898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1905.862898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802491; longitude = -122.650826; captureRadius = 10; duration = 203; initialDepth = 1885.940442; finalDepth = 1905.862898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1905.862898 # Seafloor depth: -1980.862898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.500990 meters # Minimum depth: 1960.940442 meters looking forward 0.000000 meters along route # Maximum depth: 1960.940442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1885.940442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801860; longitude = -122.651640; captureRadius = 10; duration = 203; initialDepth = 1890.031694; finalDepth = 1885.940442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1885.940442 # Seafloor depth: -1960.940442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.501400 meters # Minimum depth: 1965.031694 meters looking forward 0.000000 meters along route # Maximum depth: 1965.031694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1890.031694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801229; longitude = -122.652454; captureRadius = 10; duration = 203; initialDepth = 1880.680072; finalDepth = 1890.031694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1890.031694 # Seafloor depth: -1965.031694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.501811 meters # Minimum depth: 1955.680072 meters looking forward 0.000000 meters along route # Maximum depth: 1955.680072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1880.680072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800598; longitude = -122.653268; captureRadius = 10; duration = 203; initialDepth = 1883.336650; finalDepth = 1880.680072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1880.680072 # Seafloor depth: -1955.680072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.502221 meters # Minimum depth: 1958.336650 meters looking forward 0.000000 meters along route # Maximum depth: 1958.336650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1883.336650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799967; longitude = -122.654081; captureRadius = 10; duration = 203; initialDepth = 1833.008881; finalDepth = 1883.336650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1883.33665 # Seafloor depth: -1958.336650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.502631 meters # Minimum depth: 1908.008881 meters looking forward 0.000000 meters along route # Maximum depth: 1908.008881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1833.008881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799336; longitude = -122.654895; captureRadius = 10; duration = 203; initialDepth = 1795.905961; finalDepth = 1833.008881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1833.008881 # Seafloor depth: -1908.008881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.719285 meters # Minimum depth: 1870.905961 meters looking forward 0.000000 meters along route # Maximum depth: 1870.905961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1795.905961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798705; longitude = -122.655709; captureRadius = 10; duration = 203; initialDepth = 1812.144334; finalDepth = 1795.905961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1795.905961 # Seafloor depth: -1870.905961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.287208 meters # Minimum depth: 1887.144334 meters looking forward 0.000000 meters along route # Maximum depth: 1887.144334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1812.144334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798073; longitude = -122.656524; captureRadius = 10; duration = 202; initialDepth = 1804.439865; finalDepth = 1812.144334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1812.144334 # Seafloor depth: -1887.144334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.503862 meters # Minimum depth: 1879.439865 meters looking forward 0.000000 meters along route # Maximum depth: 1879.439865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1804.439865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797443; longitude = -122.657336; captureRadius = 10; duration = 203; initialDepth = 1731.481921; finalDepth = 1804.439865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1804.439865 # Seafloor depth: -1879.439865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.504272 meters # Minimum depth: 1806.481921 meters looking forward 0.000000 meters along route # Maximum depth: 1806.481921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1731.481921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796813; longitude = -122.658150; captureRadius = 10; duration = 203; initialDepth = 1739.627066; finalDepth = 1731.481921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1731.481921 # Seafloor depth: -1806.481921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.504683 meters # Minimum depth: 1814.627066 meters looking forward 0.000000 meters along route # Maximum depth: 1814.627066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1739.627066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796182; longitude = -122.658964; captureRadius = 10; duration = 203; initialDepth = 1753.977188; finalDepth = 1739.627066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1739.627066 # Seafloor depth: -1814.627066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.505093 meters # Minimum depth: 1828.977188 meters looking forward 0.000000 meters along route # Maximum depth: 1828.977188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1753.977188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795551; longitude = -122.659777; captureRadius = 10; duration = 203; initialDepth = 1738.072194; finalDepth = 1753.977188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1753.977188 # Seafloor depth: -1828.977188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.505503 meters # Minimum depth: 1813.072194 meters looking forward 0.000000 meters along route # Maximum depth: 1813.072194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1738.072194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794920; longitude = -122.660591; captureRadius = 10; duration = 203; initialDepth = 1703.753526; finalDepth = 1738.072194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1738.072194 # Seafloor depth: -1813.072194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.505914 meters # Minimum depth: 1778.753526 meters looking forward 0.000000 meters along route # Maximum depth: 1778.753526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1703.753526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794289; longitude = -122.661405; captureRadius = 10; duration = 203; initialDepth = 1728.230588; finalDepth = 1703.753526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1703.753526 # Seafloor depth: -1778.753526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.844706 meters # Minimum depth: 1803.230588 meters looking forward 0.000000 meters along route # Maximum depth: 1803.230588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1728.230588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793658; longitude = -122.662218; captureRadius = 10; duration = 205; initialDepth = 1735.590013; finalDepth = 1728.230588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1728.230588 # Seafloor depth: -1803.230588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.168353 meters # Minimum depth: 1810.590013 meters looking forward 0.000000 meters along route # Maximum depth: 1810.590013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1735.590013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793019; longitude = -122.663043; captureRadius = 10; duration = 200; initialDepth = 1722.360667; finalDepth = 1735.590013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1735.590013 # Seafloor depth: -1810.590013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.507145 meters # Minimum depth: 1797.360667 meters looking forward 0.000000 meters along route # Maximum depth: 1797.360667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1722.360667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792396; longitude = -122.663846; captureRadius = 10; duration = 203; initialDepth = 1679.257011; finalDepth = 1722.360667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1722.360667 # Seafloor depth: -1797.360667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.543910 meters # Minimum depth: 1754.257011 meters looking forward 0.000000 meters along route # Maximum depth: 1754.257011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.257011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791765; longitude = -122.664659; captureRadius = 10; duration = 203; initialDepth = 1704.991240; finalDepth = 1679.257011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1679.257011 # Seafloor depth: -1754.257011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.471611 meters # Minimum depth: 1779.991240 meters looking forward 0.000000 meters along route # Maximum depth: 1779.991240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.991240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791134; longitude = -122.665473; captureRadius = 10; duration = 202; initialDepth = 1706.276728; finalDepth = 1704.991240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.99124 # Seafloor depth: -1779.991240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.508376 meters # Minimum depth: 1781.276728 meters looking forward 0.000000 meters along route # Maximum depth: 1781.276728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1706.276728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790503; longitude = -122.666287; captureRadius = 10; duration = 203; initialDepth = 1705.483568; finalDepth = 1706.276728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1706.276728 # Seafloor depth: -1781.276728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.508787 meters # Minimum depth: 1780.483568 meters looking forward 0.000000 meters along route # Maximum depth: 1780.483568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.483568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789872; longitude = -122.667101; captureRadius = 10; duration = 203; initialDepth = 1666.407734; finalDepth = 1705.483568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.483568 # Seafloor depth: -1780.483568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.509197 meters # Minimum depth: 1741.407734 meters looking forward 0.000000 meters along route # Maximum depth: 1741.407734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1666.407734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789241; longitude = -122.667914; captureRadius = 10; duration = 203; initialDepth = 1619.940408; finalDepth = 1666.407734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1666.407734 # Seafloor depth: -1741.407734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.509608 meters # Minimum depth: 1694.940408 meters looking forward 0.000000 meters along route # Maximum depth: 1694.940408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1619.940408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788610; longitude = -122.668728; captureRadius = 10; duration = 203; initialDepth = 1602.422117; finalDepth = 1619.940408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1619.940408 # Seafloor depth: -1694.940408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.510018 meters # Minimum depth: 1677.422117 meters looking forward 0.000000 meters along route # Maximum depth: 1677.422117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.422117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787979; longitude = -122.669542; captureRadius = 10; duration = 203; initialDepth = 1649.757015; finalDepth = 1602.422117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.422117 # Seafloor depth: -1677.422117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.510428 meters # Minimum depth: 1731.132402 meters looking forward 0.000000 meters along route # Maximum depth: 1731.132402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.757015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787348; longitude = -122.670355; captureRadius = 10; duration = 203; initialDepth = 1697.092104; finalDepth = 1649.757015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3753871469767 # Actual altitude: 81.3753871469767 # Commanded vehicle depth: 1649.75701485302 # Seafloor depth: -1731.132402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.669376 meters # Minimum depth: 1784.726904 meters looking forward 0.000000 meters along route # Maximum depth: 1784.726904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1697.092104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786717; longitude = -122.671169; captureRadius = 10; duration = 205; initialDepth = 1741.630891; finalDepth = 1697.092104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6348001078206 # Actual altitude: 87.6348001078206 # Commanded vehicle depth: 1697.09210389218 # Seafloor depth: -1784.726904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.352712 meters # Minimum depth: 1816.630891 meters looking forward 0.000000 meters along route # Maximum depth: 1816.630891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1741.630891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786079; longitude = -122.671992; captureRadius = 10; duration = 200; initialDepth = 1754.986960; finalDepth = 1741.630891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6348001078206 # Actual altitude: 87.6348001078206 # Commanded vehicle depth: 1741.630891 # Seafloor depth: -1816.630891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.511660 meters # Minimum depth: 1829.986960 meters looking forward 0.000000 meters along route # Maximum depth: 1829.986960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1754.986960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785456; longitude = -122.672796; captureRadius = 10; duration = 203; initialDepth = 1733.252573; finalDepth = 1754.986960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1754.98696 # Seafloor depth: -1829.986960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.512070 meters # Minimum depth: 1808.252573 meters looking forward 0.000000 meters along route # Maximum depth: 1808.252573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1733.252573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784825; longitude = -122.673610; captureRadius = 10; duration = 203; initialDepth = 1762.443595; finalDepth = 1733.252573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1733.252573 # Seafloor depth: -1808.252573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.512481 meters # Minimum depth: 1837.443595 meters looking forward 0.000000 meters along route # Maximum depth: 1837.443595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.443595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784194; longitude = -122.674424; captureRadius = 10; duration = 203; initialDepth = 1767.960162; finalDepth = 1762.443595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.443595 # Seafloor depth: -1837.443595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.512892 meters # Minimum depth: 1842.960162 meters looking forward 0.000000 meters along route # Maximum depth: 1842.960162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1767.960162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783563; longitude = -122.675238; captureRadius = 10; duration = 203; initialDepth = 1803.804503; finalDepth = 1767.960162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1767.960162 # Seafloor depth: -1842.960162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.513302 meters # Minimum depth: 1878.804503 meters looking forward 0.000000 meters along route # Maximum depth: 1878.804503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1803.804503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782932; longitude = -122.676051; captureRadius = 10; duration = 203; initialDepth = 1800.257555; finalDepth = 1803.804503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1803.804503 # Seafloor depth: -1878.804503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.513712 meters # Minimum depth: 1875.257555 meters looking forward 0.000000 meters along route # Maximum depth: 1875.257555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1800.257555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782301; longitude = -122.676865; captureRadius = 10; duration = 203; initialDepth = 1808.514934; finalDepth = 1800.257555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1800.257555 # Seafloor depth: -1875.257555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.514123 meters # Minimum depth: 1883.514934 meters looking forward 0.000000 meters along route # Maximum depth: 1883.514934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1808.514934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781670; longitude = -122.677679; captureRadius = 10; duration = 203; initialDepth = 1822.861566; finalDepth = 1808.514934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1808.514934 # Seafloor depth: -1883.514934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.514534 meters # Minimum depth: 1897.861566 meters looking forward 0.000000 meters along route # Maximum depth: 1897.861566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1822.861566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781039; longitude = -122.678492; captureRadius = 10; duration = 203; initialDepth = 1792.686936; finalDepth = 1822.861566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1822.861566 # Seafloor depth: -1897.861566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.514944 meters # Minimum depth: 1867.686936 meters looking forward 0.000000 meters along route # Maximum depth: 1867.686936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1792.686936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780408; longitude = -122.679306; captureRadius = 10; duration = 203; initialDepth = 1738.901735; finalDepth = 1792.686936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1792.686936 # Seafloor depth: -1867.686936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.494030 meters # Minimum depth: 1813.901735 meters looking forward 0.000000 meters along route # Maximum depth: 1813.901735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1738.901735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779777; longitude = -122.680120; captureRadius = 10; duration = 204; initialDepth = 1739.704628; finalDepth = 1738.901735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1738.901735 # Seafloor depth: -1813.901735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.537089 meters # Minimum depth: 1814.704628 meters looking forward 0.000000 meters along route # Maximum depth: 1814.704628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1739.704628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779140; longitude = -122.680941; captureRadius = 10; duration = 201; initialDepth = 1780.678622; finalDepth = 1739.704628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1739.704628 # Seafloor depth: -1814.704628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516176 meters # Minimum depth: 1855.678622 meters looking forward 0.000000 meters along route # Maximum depth: 1855.678622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1780.678622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778515; longitude = -122.681747; captureRadius = 10; duration = 203; initialDepth = 1773.147199; finalDepth = 1780.678622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1780.678622 # Seafloor depth: -1855.678622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516587 meters # Minimum depth: 1848.147199 meters looking forward 0.000000 meters along route # Maximum depth: 1848.147199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1773.147199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777884; longitude = -122.682561; captureRadius = 10; duration = 203; initialDepth = 1740.686039; finalDepth = 1773.147199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1773.147199 # Seafloor depth: -1848.147199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516997 meters # Minimum depth: 1815.686039 meters looking forward 0.000000 meters along route # Maximum depth: 1815.686039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1740.686039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777253; longitude = -122.683375; captureRadius = 10; duration = 203; initialDepth = 1708.091325; finalDepth = 1740.686039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1740.686039 # Seafloor depth: -1815.686039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.517407 meters # Minimum depth: 1783.091325 meters looking forward 0.000000 meters along route # Maximum depth: 1783.091325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1708.091325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776622; longitude = -122.684188; captureRadius = 10; duration = 203; initialDepth = 1716.088976; finalDepth = 1708.091325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1708.091325 # Seafloor depth: -1783.091325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.517818 meters # Minimum depth: 1791.088976 meters looking forward 0.000000 meters along route # Maximum depth: 1791.088976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1716.088976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775991; longitude = -122.685002; captureRadius = 10; duration = 203; initialDepth = 1688.058933; finalDepth = 1716.088976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1716.088976 # Seafloor depth: -1791.088976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.518229 meters # Minimum depth: 1763.058933 meters looking forward 0.000000 meters along route # Maximum depth: 1763.058933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.058933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775361; longitude = -122.685816; captureRadius = 10; duration = 203; initialDepth = 1672.447982; finalDepth = 1688.058933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1688.058933 # Seafloor depth: -1763.058933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.518640 meters # Minimum depth: 1747.447982 meters looking forward 0.000000 meters along route # Maximum depth: 1747.447982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.447982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774730; longitude = -122.686629; captureRadius = 10; duration = 203; initialDepth = 1668.426619; finalDepth = 1672.447982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1672.447982 # Seafloor depth: -1747.447982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.519050 meters # Minimum depth: 1743.426619 meters looking forward 0.000000 meters along route # Maximum depth: 1743.426619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.426619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774099; longitude = -122.687443; captureRadius = 10; duration = 203; initialDepth = 1624.001715; finalDepth = 1668.426619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.426619 # Seafloor depth: -1743.426619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.519461 meters # Minimum depth: 1699.001715 meters looking forward 0.000000 meters along route # Maximum depth: 1699.001715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.001715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773468; longitude = -122.688257; captureRadius = 10; duration = 203; initialDepth = 1565.128997; finalDepth = 1624.001715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.001715 # Seafloor depth: -1699.001715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.318669 meters # Minimum depth: 1640.128997 meters looking forward 0.000000 meters along route # Maximum depth: 1640.128997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1565.128997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772837; longitude = -122.689071; captureRadius = 10; duration = 204; initialDepth = 1518.873181; finalDepth = 1565.128997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1565.128997 # Seafloor depth: -1640.128997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.721484 meters # Minimum depth: 1593.873181 meters looking forward 0.000000 meters along route # Maximum depth: 1593.873181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.873181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772201; longitude = -122.689891; captureRadius = 10; duration = 201; initialDepth = 1528.398368; finalDepth = 1518.873181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1518.873181 # Seafloor depth: -1593.873181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.520693 meters # Minimum depth: 1603.398368 meters looking forward 0.000000 meters along route # Maximum depth: 1603.398368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.398368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771575; longitude = -122.690698; captureRadius = 10; duration = 203; initialDepth = 1550.959971; finalDepth = 1528.398368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.398368 # Seafloor depth: -1603.398368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.521103 meters # Minimum depth: 1625.959971 meters looking forward 0.000000 meters along route # Maximum depth: 1625.959971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1550.959971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770944; longitude = -122.691512; captureRadius = 10; duration = 203; initialDepth = 1557.842659; finalDepth = 1550.959971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1550.959971 # Seafloor depth: -1625.959971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.521514 meters # Minimum depth: 1632.842659 meters looking forward 0.000000 meters along route # Maximum depth: 1632.842659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1557.842659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770313; longitude = -122.692325; captureRadius = 10; duration = 203; initialDepth = 1545.101617; finalDepth = 1557.842659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1557.842659 # Seafloor depth: -1632.842659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.521925 meters # Minimum depth: 1620.101617 meters looking forward 0.000000 meters along route # Maximum depth: 1620.101617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1545.101617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769682; longitude = -122.693139; captureRadius = 10; duration = 203; initialDepth = 1554.452296; finalDepth = 1545.101617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1545.101617 # Seafloor depth: -1620.101617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.522336 meters # Minimum depth: 1629.452296 meters looking forward 0.000000 meters along route # Maximum depth: 1629.452296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1554.452296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769051; longitude = -122.693953; captureRadius = 10; duration = 203; initialDepth = 1574.378704; finalDepth = 1554.452296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1554.452296 # Seafloor depth: -1629.452296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.522746 meters # Minimum depth: 1649.378704 meters looking forward 0.000000 meters along route # Maximum depth: 1649.378704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1574.378704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768420; longitude = -122.694766; captureRadius = 10; duration = 203; initialDepth = 1574.419913; finalDepth = 1574.378704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1574.378704 # Seafloor depth: -1649.378704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.523157 meters # Minimum depth: 1649.419913 meters looking forward 0.000000 meters along route # Maximum depth: 1649.419913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1574.419913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767789; longitude = -122.695580; captureRadius = 10; duration = 203; initialDepth = 1530.306065; finalDepth = 1574.419913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1574.419913 # Seafloor depth: -1649.419913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.523568 meters # Minimum depth: 1605.306065 meters looking forward 0.000000 meters along route # Maximum depth: 1605.306065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.306065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767158; longitude = -122.696394; captureRadius = 10; duration = 203; initialDepth = 1497.787060; finalDepth = 1530.306065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1530.306065 # Seafloor depth: -1605.306065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.523978 meters # Minimum depth: 1572.787060 meters looking forward 0.000000 meters along route # Maximum depth: 1572.787060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1497.787060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766527; longitude = -122.697208; captureRadius = 10; duration = 203; initialDepth = 1486.759744; finalDepth = 1497.787060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1497.78706 # Seafloor depth: -1572.787060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.143294 meters # Minimum depth: 1561.759744 meters looking forward 0.000000 meters along route # Maximum depth: 1561.759744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.759744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765896; longitude = -122.698021; captureRadius = 10; duration = 204; initialDepth = 1469.650518; finalDepth = 1486.759744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1486.759744 # Seafloor depth: -1561.759744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.905895 meters # Minimum depth: 1544.650518 meters looking forward 0.000000 meters along route # Maximum depth: 1544.650518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1469.650518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765262; longitude = -122.698840; captureRadius = 10; duration = 201; initialDepth = 1452.771122; finalDepth = 1469.650518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1469.650518 # Seafloor depth: -1544.650518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.525211 meters # Minimum depth: 1527.771122 meters looking forward 0.000000 meters along route # Maximum depth: 1527.771122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1452.771122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764635; longitude = -122.699649; captureRadius = 10; duration = 203; initialDepth = 1420.646631; finalDepth = 1452.771122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1452.771122 # Seafloor depth: -1527.771122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.525621 meters # Minimum depth: 1495.646631 meters looking forward 0.000000 meters along route # Maximum depth: 1495.646631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.646631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764004; longitude = -122.700462; captureRadius = 10; duration = 203; initialDepth = 1357.777129; finalDepth = 1420.646631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1420.646631 # Seafloor depth: -1495.646631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.526033 meters # Minimum depth: 1432.777129 meters looking forward 0.000000 meters along route # Maximum depth: 1432.777129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1357.777129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763373; longitude = -122.701276; captureRadius = 10; duration = 203; initialDepth = 1310.784962; finalDepth = 1357.777129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1357.777129 # Seafloor depth: -1432.777129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.526443 meters # Minimum depth: 1385.784962 meters looking forward 0.000000 meters along route # Maximum depth: 1385.784962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1310.784962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762742; longitude = -122.702090; captureRadius = 10; duration = 203; initialDepth = 1255.351314; finalDepth = 1310.784962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1310.784962 # Seafloor depth: -1385.784962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.526854 meters # Minimum depth: 1330.351314 meters looking forward 0.000000 meters along route # Maximum depth: 1330.351314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1255.351314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762111; longitude = -122.702903; captureRadius = 10; duration = 203; initialDepth = 1197.605095; finalDepth = 1255.351314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1255.351314 # Seafloor depth: -1330.351314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.527264 meters # Minimum depth: 1272.605095 meters looking forward 0.000000 meters along route # Maximum depth: 1272.605095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1197.605095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761480; longitude = -122.703717; captureRadius = 10; duration = 203; initialDepth = 1207.637643; finalDepth = 1197.605095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1197.605095 # Seafloor depth: -1272.605095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.527676 meters # Minimum depth: 1282.637643 meters looking forward 0.000000 meters along route # Maximum depth: 1282.637643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1207.637643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760849; longitude = -122.704531; captureRadius = 10; duration = 203; initialDepth = 1252.557994; finalDepth = 1207.637643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1207.637643 # Seafloor depth: -1282.637643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.528086 meters # Minimum depth: 1327.557994 meters looking forward 0.000000 meters along route # Maximum depth: 1327.557994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1252.557994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760218; longitude = -122.705345; captureRadius = 10; duration = 203; initialDepth = 1294.526681; finalDepth = 1252.557994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1252.557994 # Seafloor depth: -1327.557994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.528497 meters # Minimum depth: 1369.526681 meters looking forward 0.000000 meters along route # Maximum depth: 1369.526681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1294.526681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759587; longitude = -122.706158; captureRadius = 10; duration = 203; initialDepth = 1326.041773; finalDepth = 1294.526681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1294.526681 # Seafloor depth: -1369.526681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.967904 meters # Minimum depth: 1401.041773 meters looking forward 0.000000 meters along route # Maximum depth: 1401.041773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1326.041773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758956; longitude = -122.706972; captureRadius = 10; duration = 203; initialDepth = 1348.789117; finalDepth = 1326.041773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1326.041773 # Seafloor depth: -1401.041773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.090323 meters # Minimum depth: 1423.789117 meters looking forward 0.000000 meters along route # Maximum depth: 1423.789117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1348.789117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758322; longitude = -122.707789; captureRadius = 10; duration = 202; initialDepth = 1395.928308; finalDepth = 1348.789117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1348.789117 # Seafloor depth: -1423.789117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.529730 meters # Minimum depth: 1489.992155 meters looking forward 0.000000 meters along route # Maximum depth: 1489.992155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1395.928308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757694; longitude = -122.708599; captureRadius = 10; duration = 203; initialDepth = 1443.272398; finalDepth = 1395.928308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.0638471357615 # Actual altitude: 94.0638471357615 # Commanded vehicle depth: 1395.92830786424 # Seafloor depth: -1489.992155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.22; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.530141 meters # Minimum depth: 1539.018348 meters looking forward 0.000000 meters along route # Maximum depth: 1539.018348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.272398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757063; longitude = -122.709413; captureRadius = 10; duration = 203; initialDepth = 1490.616679; finalDepth = 1443.272398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.7459504263591 # Actual altitude: 95.7459504263591 # Commanded vehicle depth: 1443.27239757364 # Seafloor depth: -1539.018348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.530551 meters # Minimum depth: 1585.052893 meters looking forward 0.000000 meters along route # Maximum depth: 1585.052893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.616679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756432; longitude = -122.710227; captureRadius = 10; duration = 203; initialDepth = 1537.961151; finalDepth = 1490.616679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.7459504263591 # Actual altitude: 95.7459504263591 # Commanded vehicle depth: 1490.61667893548 # Seafloor depth: -1585.052893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.530963 meters # Minimum depth: 1635.558814 meters looking forward 0.000000 meters along route # Maximum depth: 1635.558814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1537.961151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755801; longitude = -122.711040; captureRadius = 10; duration = 203; initialDepth = 1585.305816; finalDepth = 1537.961151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5976625165322 # Actual altitude: 97.5976625165322 # Commanded vehicle depth: 1537.96115148347 # Seafloor depth: -1635.558814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.531373 meters # Minimum depth: 1682.441463 meters looking forward 0.000000 meters along route # Maximum depth: 1682.441463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1585.305816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755170; longitude = -122.711854; captureRadius = 10; duration = 203; initialDepth = 1627.430693; finalDepth = 1585.305816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5976625165322 # Actual altitude: 97.5976625165322 # Commanded vehicle depth: 1585.3058161502 # Seafloor depth: -1682.441463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.531784 meters # Minimum depth: 1702.430693 meters looking forward 0.000000 meters along route # Maximum depth: 1702.430693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1627.430693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754539; longitude = -122.712668; captureRadius = 10; duration = 203; initialDepth = 1636.386104; finalDepth = 1627.430693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.1356468498004 # Actual altitude: 97.1356468498004 # Commanded vehicle depth: 1627.430693 # Seafloor depth: -1702.430693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.093622 meters # Minimum depth: 1711.386104 meters looking forward 0.000000 meters along route # Maximum depth: 1711.386104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1636.386104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753909; longitude = -122.713482; captureRadius = 10; duration = 206; initialDepth = 1661.659405; finalDepth = 1636.386104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1636.386104 # Seafloor depth: -1711.386104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 112.232382 meters # Minimum depth: 1736.659405 meters looking forward 0.000000 meters along route # Maximum depth: 1736.659405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1661.659405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753268; longitude = -122.714308; captureRadius = 10; duration = 224; initialDepth = 1659.237488; finalDepth = 1661.659405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1661.659405 # Seafloor depth: -1736.659405 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 98.766648 meters # Minimum depth: 1734.237488 meters looking forward 0.000000 meters along route # Maximum depth: 1734.237488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1659.237488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752570; longitude = -122.715207; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 1665.849113; finalDepth = 1659.237488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1659.237488 # Seafloor depth: -1734.237488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.233352 meters # Minimum depth: 1740.849113 meters looking forward 0.000000 meters along route # Maximum depth: 1740.849113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1665.849113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751926; longitude = -122.714454; captureRadius = 10; duration = 202; initialDepth = 1667.569366; finalDepth = 1665.849113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1665.849113 # Seafloor depth: -1740.849113 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 135.378964 meters # Minimum depth: 1742.569366 meters looking forward 0.000000 meters along route # Maximum depth: 1742.569366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1667.569366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751265; longitude = -122.713682; captureRadius = 10; duration = 270; # abortOnTimeout = True; initialDepth = 1634.348274; finalDepth = 1667.569366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1667.569366 # Seafloor depth: -1742.569366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.533744 meters # Minimum depth: 1709.348274 meters looking forward 0.000000 meters along route # Maximum depth: 1709.348274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.348274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752106; longitude = -122.712597; captureRadius = 10; duration = 203; initialDepth = 1561.977010; finalDepth = 1634.348274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.348274 # Seafloor depth: -1709.348274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.533333 meters # Minimum depth: 1636.977010 meters looking forward 0.000000 meters along route # Maximum depth: 1636.977010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1561.977010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752737; longitude = -122.711783; captureRadius = 10; duration = 203; initialDepth = 1556.024678; finalDepth = 1561.977010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1561.97701 # Seafloor depth: -1636.977010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.532922 meters # Minimum depth: 1631.024678 meters looking forward 0.000000 meters along route # Maximum depth: 1631.024678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1556.024678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753368; longitude = -122.710969; captureRadius = 10; duration = 203; initialDepth = 1549.187133; finalDepth = 1556.024678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1556.024678 # Seafloor depth: -1631.024678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.272987 meters # Minimum depth: 1624.187133 meters looking forward 0.000000 meters along route # Maximum depth: 1624.187133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1549.187133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753999; longitude = -122.710156; captureRadius = 10; duration = 204; initialDepth = 1515.359156; finalDepth = 1549.187133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1549.187133 # Seafloor depth: -1624.187133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.791625 meters # Minimum depth: 1590.359156 meters looking forward 0.000000 meters along route # Maximum depth: 1590.359156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.359156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754634; longitude = -122.709336; captureRadius = 10; duration = 201; initialDepth = 1477.588853; finalDepth = 1515.359156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.359156 # Seafloor depth: -1590.359156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.531690 meters # Minimum depth: 1552.588853 meters looking forward 0.000000 meters along route # Maximum depth: 1552.588853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1477.588853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755261; longitude = -122.708528; captureRadius = 10; duration = 203; initialDepth = 1431.237893; finalDepth = 1477.588853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1477.588853 # Seafloor depth: -1552.588853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.531278 meters # Minimum depth: 1506.237893 meters looking forward 0.000000 meters along route # Maximum depth: 1506.237893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1431.237893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755892; longitude = -122.707714; captureRadius = 10; duration = 203; initialDepth = 1398.825997; finalDepth = 1431.237893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1431.237893 # Seafloor depth: -1506.237893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.530868 meters # Minimum depth: 1473.825997 meters looking forward 0.000000 meters along route # Maximum depth: 1473.825997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1398.825997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756522; longitude = -122.706901; captureRadius = 10; duration = 203; initialDepth = 1342.733517; finalDepth = 1398.825997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1398.825997 # Seafloor depth: -1473.825997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.530457 meters # Minimum depth: 1417.733517 meters looking forward 0.000000 meters along route # Maximum depth: 1417.733517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1342.733517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757153; longitude = -122.706087; captureRadius = 10; duration = 203; initialDepth = 1275.271308; finalDepth = 1342.733517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1342.733517 # Seafloor depth: -1417.733517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.530047 meters # Minimum depth: 1350.271308 meters looking forward 0.000000 meters along route # Maximum depth: 1350.271308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1275.271308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757784; longitude = -122.705273; captureRadius = 10; duration = 203; initialDepth = 1224.504600; finalDepth = 1275.271308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1275.271308 # Seafloor depth: -1350.271308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.529635 meters # Minimum depth: 1299.504600 meters looking forward 0.000000 meters along route # Maximum depth: 1299.504600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1224.504600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758415; longitude = -122.704460; captureRadius = 10; duration = 203; initialDepth = 1202.479090; finalDepth = 1224.504600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1224.5046 # Seafloor depth: -1299.504600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.529225 meters # Minimum depth: 1277.479090 meters looking forward 0.000000 meters along route # Maximum depth: 1277.479090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1202.479090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759046; longitude = -122.703646; captureRadius = 10; duration = 203; initialDepth = 1232.146201; finalDepth = 1202.479090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1202.47909 # Seafloor depth: -1277.479090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.528814 meters # Minimum depth: 1307.146201 meters looking forward 0.000000 meters along route # Maximum depth: 1307.146201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1232.146201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759677; longitude = -122.702832; captureRadius = 10; duration = 203; initialDepth = 1263.325848; finalDepth = 1232.146201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1232.146201 # Seafloor depth: -1307.146201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.528403 meters # Minimum depth: 1338.325848 meters looking forward 0.000000 meters along route # Maximum depth: 1338.325848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1263.325848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760308; longitude = -122.702018; captureRadius = 10; duration = 203; initialDepth = 1303.120012; finalDepth = 1263.325848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1263.325848 # Seafloor depth: -1338.325848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.072435 meters # Minimum depth: 1378.120012 meters looking forward 0.000000 meters along route # Maximum depth: 1378.120012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1303.120012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760939; longitude = -122.701205; captureRadius = 10; duration = 204; initialDepth = 1344.567550; finalDepth = 1303.120012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1303.120012 # Seafloor depth: -1378.120012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.983139 meters # Minimum depth: 1419.567550 meters looking forward 0.000000 meters along route # Maximum depth: 1419.567550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1344.567550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761573; longitude = -122.700387; captureRadius = 10; duration = 201; initialDepth = 1391.656760; finalDepth = 1344.567550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1344.56755 # Seafloor depth: -1419.567550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.527170 meters # Minimum depth: 1470.211918 meters looking forward 0.000000 meters along route # Maximum depth: 1470.211918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1391.656760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762201; longitude = -122.699577; captureRadius = 10; duration = 203; initialDepth = 1438.999656; finalDepth = 1391.656760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5551578548223 # Actual altitude: 78.5551578548223 # Commanded vehicle depth: 1391.65676014518 # Seafloor depth: -1470.211918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 314.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.526760 meters # Minimum depth: 1528.070267 meters looking forward 0.000000 meters along route # Maximum depth: 1528.070267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1438.999656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762832; longitude = -122.698764; captureRadius = 10; duration = 203; initialDepth = 1486.342361; finalDepth = 1438.999656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.0706108930017 # Actual altitude: 89.0706108930017 # Commanded vehicle depth: 1438.999656107 # Seafloor depth: -1528.070267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.526350 meters # Minimum depth: 1582.198565 meters looking forward 0.000000 meters along route # Maximum depth: 1582.198565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.342361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763463; longitude = -122.697950; captureRadius = 10; duration = 203; initialDepth = 1533.684874; finalDepth = 1486.342361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.8562041173172 # Actual altitude: 95.8562041173172 # Commanded vehicle depth: 1486.34236088268 # Seafloor depth: -1582.198565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.525938 meters # Minimum depth: 1628.992178 meters looking forward 0.000000 meters along route # Maximum depth: 1628.992178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1533.684874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764094; longitude = -122.697136; captureRadius = 10; duration = 203; initialDepth = 1577.869091; finalDepth = 1533.684874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.8562041173172 # Actual altitude: 95.8562041173172 # Commanded vehicle depth: 1533.68487447223 # Seafloor depth: -1628.992178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.525528 meters # Minimum depth: 1652.869091 meters looking forward 0.000000 meters along route # Maximum depth: 1652.869091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.869091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764725; longitude = -122.696322; captureRadius = 10; duration = 203; initialDepth = 1591.543841; finalDepth = 1577.869091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3073035277694 # Actual altitude: 95.3073035277694 # Commanded vehicle depth: 1577.869091 # Seafloor depth: -1652.869091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.525117 meters # Minimum depth: 1666.543841 meters looking forward 0.000000 meters along route # Maximum depth: 1666.543841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1591.543841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765356; longitude = -122.695509; captureRadius = 10; duration = 203; initialDepth = 1615.580806; finalDepth = 1591.543841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1591.543841 # Seafloor depth: -1666.543841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.524707 meters # Minimum depth: 1690.580806 meters looking forward 0.000000 meters along route # Maximum depth: 1690.580806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1615.580806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765987; longitude = -122.694695; captureRadius = 10; duration = 203; initialDepth = 1629.104515; finalDepth = 1615.580806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1615.580806 # Seafloor depth: -1690.580806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.524296 meters # Minimum depth: 1704.104515 meters looking forward 0.000000 meters along route # Maximum depth: 1704.104515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.104515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766618; longitude = -122.693881; captureRadius = 10; duration = 203; initialDepth = 1649.548400; finalDepth = 1629.104515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.104515 # Seafloor depth: -1704.104515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.523885 meters # Minimum depth: 1724.548400 meters looking forward 0.000000 meters along route # Maximum depth: 1724.548400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.548400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767248; longitude = -122.693068; captureRadius = 10; duration = 203; initialDepth = 1656.745551; finalDepth = 1649.548400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.5484 # Seafloor depth: -1724.548400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.871902 meters # Minimum depth: 1731.745551 meters looking forward 0.000000 meters along route # Maximum depth: 1731.745551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1656.745551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767879; longitude = -122.692254; captureRadius = 10; duration = 203; initialDepth = 1624.289975; finalDepth = 1656.745551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1656.745551 # Seafloor depth: -1731.745551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.174636 meters # Minimum depth: 1699.289975 meters looking forward 0.000000 meters along route # Maximum depth: 1699.289975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.289975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768512; longitude = -122.691437; captureRadius = 10; duration = 202; initialDepth = 1616.436069; finalDepth = 1624.289975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.289975 # Seafloor depth: -1699.289975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.522653 meters # Minimum depth: 1691.436069 meters looking forward 0.000000 meters along route # Maximum depth: 1691.436069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1616.436069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769141; longitude = -122.690626; captureRadius = 10; duration = 203; initialDepth = 1630.802775; finalDepth = 1616.436069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1616.436069 # Seafloor depth: -1691.436069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.522242 meters # Minimum depth: 1705.802775 meters looking forward 0.000000 meters along route # Maximum depth: 1705.802775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1630.802775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769772; longitude = -122.689813; captureRadius = 10; duration = 203; initialDepth = 1618.397785; finalDepth = 1630.802775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1630.802775 # Seafloor depth: -1705.802775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.521832 meters # Minimum depth: 1693.397785 meters looking forward 0.000000 meters along route # Maximum depth: 1693.397785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.397785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770403; longitude = -122.688999; captureRadius = 10; duration = 203; initialDepth = 1629.563367; finalDepth = 1618.397785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.397785 # Seafloor depth: -1693.397785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.521421 meters # Minimum depth: 1704.563367 meters looking forward 0.000000 meters along route # Maximum depth: 1704.563367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.563367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771034; longitude = -122.688185; captureRadius = 10; duration = 203; initialDepth = 1661.348999; finalDepth = 1629.563367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.563367 # Seafloor depth: -1704.563367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.521010 meters # Minimum depth: 1736.348999 meters looking forward 0.000000 meters along route # Maximum depth: 1736.348999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1661.348999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771665; longitude = -122.687372; captureRadius = 10; duration = 203; initialDepth = 1685.517644; finalDepth = 1661.348999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1661.348999 # Seafloor depth: -1736.348999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.520600 meters # Minimum depth: 1760.517644 meters looking forward 0.000000 meters along route # Maximum depth: 1760.517644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.517644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772296; longitude = -122.686558; captureRadius = 10; duration = 203; initialDepth = 1658.939393; finalDepth = 1685.517644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.517644 # Seafloor depth: -1760.517644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.979185 meters # Minimum depth: 1733.939393 meters looking forward 0.000000 meters along route # Maximum depth: 1733.939393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1658.939393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772927; longitude = -122.685744; captureRadius = 10; duration = 205; initialDepth = 1641.970754; finalDepth = 1658.939393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1658.939393 # Seafloor depth: -1733.939393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.060783 meters # Minimum depth: 1716.970754 meters looking forward 0.000000 meters along route # Maximum depth: 1716.970754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.970754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773567; longitude = -122.684919; captureRadius = 10; duration = 200; initialDepth = 1679.896408; finalDepth = 1641.970754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.970754 # Seafloor depth: -1716.970754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.519368 meters # Minimum depth: 1754.896408 meters looking forward 0.000000 meters along route # Maximum depth: 1754.896408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.896408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774189; longitude = -122.684117; captureRadius = 10; duration = 203; initialDepth = 1724.940251; finalDepth = 1679.896408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1679.896408 # Seafloor depth: -1754.896408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.671388 meters # Minimum depth: 1799.940251 meters looking forward 0.000000 meters along route # Maximum depth: 1799.940251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.940251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774820; longitude = -122.683303; captureRadius = 10; duration = 203; initialDepth = 1753.579392; finalDepth = 1724.940251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1724.940251 # Seafloor depth: -1799.940251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.366116 meters # Minimum depth: 1828.579392 meters looking forward 0.000000 meters along route # Maximum depth: 1828.579392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1753.579392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775452; longitude = -122.682488; captureRadius = 10; duration = 202; initialDepth = 1751.054032; finalDepth = 1753.579392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1753.579392 # Seafloor depth: -1828.579392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.518137 meters # Minimum depth: 1826.054032 meters looking forward 0.000000 meters along route # Maximum depth: 1826.054032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1751.054032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776082; longitude = -122.681676; captureRadius = 10; duration = 203; initialDepth = 1762.735812; finalDepth = 1751.054032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1751.054032 # Seafloor depth: -1826.054032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.517725 meters # Minimum depth: 1837.735812 meters looking forward 0.000000 meters along route # Maximum depth: 1837.735812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.735812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776713; longitude = -122.680862; captureRadius = 10; duration = 203; initialDepth = 1795.846938; finalDepth = 1762.735812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.735812 # Seafloor depth: -1837.735812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.517316 meters # Minimum depth: 1870.846938 meters looking forward 0.000000 meters along route # Maximum depth: 1870.846938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1795.846938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777343; longitude = -122.680048; captureRadius = 10; duration = 203; initialDepth = 1828.074330; finalDepth = 1795.846938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1795.846938 # Seafloor depth: -1870.846938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.516904 meters # Minimum depth: 1903.074330 meters looking forward 0.000000 meters along route # Maximum depth: 1903.074330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1828.074330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777974; longitude = -122.679234; captureRadius = 10; duration = 203; initialDepth = 1845.752305; finalDepth = 1828.074330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1828.07433 # Seafloor depth: -1903.074330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.516494 meters # Minimum depth: 1920.752305 meters looking forward 0.000000 meters along route # Maximum depth: 1920.752305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1845.752305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778605; longitude = -122.678421; captureRadius = 10; duration = 203; initialDepth = 1851.012319; finalDepth = 1845.752305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1845.752305 # Seafloor depth: -1920.752305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.516084 meters # Minimum depth: 1926.012319 meters looking forward 0.000000 meters along route # Maximum depth: 1926.012319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1851.012319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779236; longitude = -122.677607; captureRadius = 10; duration = 203; initialDepth = 1849.854822; finalDepth = 1851.012319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1851.012319 # Seafloor depth: -1926.012319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.778628 meters # Minimum depth: 1924.854822 meters looking forward 0.000000 meters along route # Maximum depth: 1924.854822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1849.854822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779867; longitude = -122.676793; captureRadius = 10; duration = 205; initialDepth = 1845.712759; finalDepth = 1849.854822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1849.854822 # Seafloor depth: -1924.854822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.252307 meters # Minimum depth: 1920.712759 meters looking forward 0.000000 meters along route # Maximum depth: 1920.712759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1845.712759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780506; longitude = -122.675970; captureRadius = 10; duration = 200; initialDepth = 1798.874999; finalDepth = 1845.712759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1845.712759 # Seafloor depth: -1920.712759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.514853 meters # Minimum depth: 1873.874999 meters looking forward 0.000000 meters along route # Maximum depth: 1873.874999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1798.874999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781129; longitude = -122.675166; captureRadius = 10; duration = 203; initialDepth = 1841.018070; finalDepth = 1798.874999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1798.874999 # Seafloor depth: -1873.874999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.514441 meters # Minimum depth: 1916.018070 meters looking forward 0.000000 meters along route # Maximum depth: 1916.018070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1841.018070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781760; longitude = -122.674352; captureRadius = 10; duration = 203; initialDepth = 1830.194966; finalDepth = 1841.018070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1841.01807 # Seafloor depth: -1916.018070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.514031 meters # Minimum depth: 1905.194966 meters looking forward 0.000000 meters along route # Maximum depth: 1905.194966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1830.194966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782391; longitude = -122.673538; captureRadius = 10; duration = 203; initialDepth = 1801.201264; finalDepth = 1830.194966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1830.194966 # Seafloor depth: -1905.194966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.513621 meters # Minimum depth: 1876.201264 meters looking forward 0.000000 meters along route # Maximum depth: 1876.201264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1801.201264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783022; longitude = -122.672725; captureRadius = 10; duration = 203; initialDepth = 1797.125240; finalDepth = 1801.201264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1801.201264 # Seafloor depth: -1876.201264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.513210 meters # Minimum depth: 1872.125240 meters looking forward 0.000000 meters along route # Maximum depth: 1872.125240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.125240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783653; longitude = -122.671911; captureRadius = 10; duration = 203; initialDepth = 1745.457918; finalDepth = 1797.125240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1797.12524 # Seafloor depth: -1872.125240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.512799 meters # Minimum depth: 1820.457918 meters looking forward 0.000000 meters along route # Maximum depth: 1820.457918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1745.457918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784284; longitude = -122.671097; captureRadius = 10; duration = 203; initialDepth = 1717.752570; finalDepth = 1745.457918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1745.457918 # Seafloor depth: -1820.457918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.512390 meters # Minimum depth: 1792.752570 meters looking forward 0.000000 meters along route # Maximum depth: 1792.752570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1717.752570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784915; longitude = -122.670284; captureRadius = 10; duration = 203; initialDepth = 1657.130254; finalDepth = 1717.752570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1717.75257 # Seafloor depth: -1792.752570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.511978 meters # Minimum depth: 1732.130254 meters looking forward 0.000000 meters along route # Maximum depth: 1732.130254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1657.130254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785546; longitude = -122.669470; captureRadius = 10; duration = 203; initialDepth = 1595.488758; finalDepth = 1657.130254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1657.130254 # Seafloor depth: -1732.130254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.511569 meters # Minimum depth: 1670.488758 meters looking forward 0.000000 meters along route # Maximum depth: 1670.488758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.488758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786177; longitude = -122.668656; captureRadius = 10; duration = 203; initialDepth = 1569.040197; finalDepth = 1595.488758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1595.488758 # Seafloor depth: -1670.488758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.578090 meters # Minimum depth: 1644.040197 meters looking forward 0.000000 meters along route # Maximum depth: 1644.040197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1569.040197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786808; longitude = -122.667842; captureRadius = 10; duration = 205; initialDepth = 1599.270746; finalDepth = 1569.040197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1569.040197 # Seafloor depth: -1644.040197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.443815 meters # Minimum depth: 1674.270746 meters looking forward 0.000000 meters along route # Maximum depth: 1674.270746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1599.270746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787445; longitude = -122.667020; captureRadius = 10; duration = 200; initialDepth = 1642.662726; finalDepth = 1599.270746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1599.270746 # Seafloor depth: -1674.270746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.510337 meters # Minimum depth: 1717.662726 meters looking forward 0.000000 meters along route # Maximum depth: 1717.662726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.662726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788069; longitude = -122.666215; captureRadius = 10; duration = 203; initialDepth = 1679.236724; finalDepth = 1642.662726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.662726 # Seafloor depth: -1717.662726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.509927 meters # Minimum depth: 1754.236724 meters looking forward 0.000000 meters along route # Maximum depth: 1754.236724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.236724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788700; longitude = -122.665401; captureRadius = 10; duration = 203; initialDepth = 1696.711545; finalDepth = 1679.236724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1679.236724 # Seafloor depth: -1754.236724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.509516 meters # Minimum depth: 1771.711545 meters looking forward 0.000000 meters along route # Maximum depth: 1771.711545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1696.711545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789331; longitude = -122.664588; captureRadius = 10; duration = 203; initialDepth = 1720.638546; finalDepth = 1696.711545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1696.711545 # Seafloor depth: -1771.711545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.509106 meters # Minimum depth: 1795.638546 meters looking forward 0.000000 meters along route # Maximum depth: 1795.638546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1720.638546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789962; longitude = -122.663774; captureRadius = 10; duration = 203; initialDepth = 1727.527376; finalDepth = 1720.638546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1720.638546 # Seafloor depth: -1795.638546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.508696 meters # Minimum depth: 1802.527376 meters looking forward 0.000000 meters along route # Maximum depth: 1802.527376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1727.527376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790593; longitude = -122.662960; captureRadius = 10; duration = 203; initialDepth = 1731.529540; finalDepth = 1727.527376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1727.527376 # Seafloor depth: -1802.527376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.508285 meters # Minimum depth: 1806.529540 meters looking forward 0.000000 meters along route # Maximum depth: 1806.529540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1731.529540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791224; longitude = -122.662146; captureRadius = 10; duration = 203; initialDepth = 1727.446449; finalDepth = 1731.529540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1731.52954 # Seafloor depth: -1806.529540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.507875 meters # Minimum depth: 1802.446449 meters looking forward 0.000000 meters along route # Maximum depth: 1802.446449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1727.446449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791855; longitude = -122.661333; captureRadius = 10; duration = 203; initialDepth = 1696.244030; finalDepth = 1727.446449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1727.446449 # Seafloor depth: -1802.446449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.507464 meters # Minimum depth: 1771.244030 meters looking forward 0.000000 meters along route # Maximum depth: 1771.244030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1696.244030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792486; longitude = -122.660519; captureRadius = 10; duration = 203; initialDepth = 1674.845911; finalDepth = 1696.244030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1696.24403 # Seafloor depth: -1771.244030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.507054 meters # Minimum depth: 1749.845911 meters looking forward 0.000000 meters along route # Maximum depth: 1749.845911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1674.845911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793117; longitude = -122.659705; captureRadius = 10; duration = 203; initialDepth = 1706.551749; finalDepth = 1674.845911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1674.845911 # Seafloor depth: -1749.845911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.377570 meters # Minimum depth: 1781.551749 meters looking forward 0.000000 meters along route # Maximum depth: 1781.551749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1706.551749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793748; longitude = -122.658892; captureRadius = 10; duration = 204; initialDepth = 1715.111318; finalDepth = 1706.551749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1706.551749 # Seafloor depth: -1781.551749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.635307 meters # Minimum depth: 1790.111318 meters looking forward 0.000000 meters along route # Maximum depth: 1790.111318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1715.111318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794384; longitude = -122.658071; captureRadius = 10; duration = 201; initialDepth = 1753.650059; finalDepth = 1715.111318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1715.111318 # Seafloor depth: -1790.111318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.505824 meters # Minimum depth: 1828.650059 meters looking forward 0.000000 meters along route # Maximum depth: 1828.650059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1753.650059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795010; longitude = -122.657264; captureRadius = 10; duration = 203; initialDepth = 1759.737630; finalDepth = 1753.650059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1753.650059 # Seafloor depth: -1828.650059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.505412 meters # Minimum depth: 1834.737630 meters looking forward 0.000000 meters along route # Maximum depth: 1834.737630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1759.737630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795641; longitude = -122.656450; captureRadius = 10; duration = 203; initialDepth = 1759.953317; finalDepth = 1759.737630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1759.73763 # Seafloor depth: -1834.737630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.505003 meters # Minimum depth: 1834.953317 meters looking forward 0.000000 meters along route # Maximum depth: 1834.953317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1759.953317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796272; longitude = -122.655637; captureRadius = 10; duration = 203; initialDepth = 1774.524493; finalDepth = 1759.953317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1759.953317 # Seafloor depth: -1834.953317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.504592 meters # Minimum depth: 1849.524493 meters looking forward 0.000000 meters along route # Maximum depth: 1849.524493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1774.524493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796903; longitude = -122.654823; captureRadius = 10; duration = 203; initialDepth = 1788.410362; finalDepth = 1774.524493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1774.524493 # Seafloor depth: -1849.524493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.504182 meters # Minimum depth: 1863.410362 meters looking forward 0.000000 meters along route # Maximum depth: 1863.410362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1788.410362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797534; longitude = -122.654009; captureRadius = 10; duration = 203; initialDepth = 1808.374223; finalDepth = 1788.410362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1788.410362 # Seafloor depth: -1863.410362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.503772 meters # Minimum depth: 1883.374223 meters looking forward 0.000000 meters along route # Maximum depth: 1883.374223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1808.374223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798165; longitude = -122.653196; captureRadius = 10; duration = 203; initialDepth = 1855.706208; finalDepth = 1808.374223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1808.374223 # Seafloor depth: -1883.374223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.503361 meters # Minimum depth: 1951.562098 meters looking forward 0.000000 meters along route # Maximum depth: 1951.562098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1855.706208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798795; longitude = -122.652382; captureRadius = 10; duration = 203; initialDepth = 1903.038002; finalDepth = 1855.706208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.8558897045534 # Actual altitude: 95.8558897045534 # Commanded vehicle depth: 1855.70620829545 # Seafloor depth: -1951.562098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.502952 meters # Minimum depth: 1986.426213 meters looking forward 0.000000 meters along route # Maximum depth: 1986.426213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1903.038002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799426; longitude = -122.651568; captureRadius = 10; duration = 203; initialDepth = 1950.369605; finalDepth = 1903.038002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.8558897045534 # Actual altitude: 95.8558897045534 # Commanded vehicle depth: 1903.03800193845 # Seafloor depth: -1986.426213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.502541 meters # Minimum depth: 2037.096170 meters looking forward 0.000000 meters along route # Maximum depth: 2037.096170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1950.369605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800057; longitude = -122.650754; captureRadius = 10; duration = 203; initialDepth = 1981.895234; finalDepth = 1950.369605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.7265651383755 # Actual altitude: 86.7265651383755 # Commanded vehicle depth: 1950.36960486162 # Seafloor depth: -2037.096170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 346.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.177068 meters # Minimum depth: 2056.895234 meters looking forward 0.000000 meters along route # Maximum depth: 2056.895234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1981.895234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800688; longitude = -122.649941; captureRadius = 10; duration = 204; initialDepth = 2023.576742; finalDepth = 1981.895234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.7265651383755 # Actual altitude: 86.7265651383755 # Commanded vehicle depth: 1981.895234 # Seafloor depth: -2056.895234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 346.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.826783 meters # Minimum depth: 2098.576742 meters looking forward 0.000000 meters along route # Maximum depth: 2098.576742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2023.576742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801323; longitude = -122.649122; captureRadius = 10; duration = 201; initialDepth = 2043.278987; finalDepth = 2023.576742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2023.576742 # Seafloor depth: -2098.576742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.501310 meters # Minimum depth: 2118.278987 meters looking forward 0.000000 meters along route # Maximum depth: 2118.278987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2043.278987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801950; longitude = -122.648313; captureRadius = 10; duration = 203; initialDepth = 2054.713625; finalDepth = 2043.278987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2043.278987 # Seafloor depth: -2118.278987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.500900 meters # Minimum depth: 2129.713625 meters looking forward 0.000000 meters along route # Maximum depth: 2129.713625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2054.713625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802581; longitude = -122.647500; captureRadius = 10; duration = 203; initialDepth = 2098.796525; finalDepth = 2054.713625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2054.713625 # Seafloor depth: -2129.713625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.500490 meters # Minimum depth: 2173.796525 meters looking forward 0.000000 meters along route # Maximum depth: 2173.796525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2098.796525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803212; longitude = -122.646686; captureRadius = 10; duration = 203; initialDepth = 2142.582806; finalDepth = 2098.796525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2098.796525 # Seafloor depth: -2173.796525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.500079 meters # Minimum depth: 2217.582806 meters looking forward 0.000000 meters along route # Maximum depth: 2217.582806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2142.582806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803843; longitude = -122.645872; captureRadius = 10; duration = 203; initialDepth = 2167.741150; finalDepth = 2142.582806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2142.582806 # Seafloor depth: -2217.582806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.499670 meters # Minimum depth: 2242.741150 meters looking forward 0.000000 meters along route # Maximum depth: 2242.741150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2167.741150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804474; longitude = -122.645058; captureRadius = 10; duration = 202; initialDepth = 2162.103219; finalDepth = 2167.741150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2167.74115 # Seafloor depth: -2242.741150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.499259 meters # Minimum depth: 2237.103219 meters looking forward 0.000000 meters along route # Maximum depth: 2237.103219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2162.103219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805105; longitude = -122.644245; captureRadius = 10; duration = 202; initialDepth = 2146.695493; finalDepth = 2162.103219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2162.103219 # Seafloor depth: -2237.103219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.498849 meters # Minimum depth: 2221.695493 meters looking forward 0.000000 meters along route # Maximum depth: 2221.695493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2146.695493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805736; longitude = -122.643431; captureRadius = 10; duration = 202; initialDepth = 2155.909308; finalDepth = 2146.695493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2146.695493 # Seafloor depth: -2221.695493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.498439 meters # Minimum depth: 2230.909308 meters looking forward 0.000000 meters along route # Maximum depth: 2230.909308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2155.909308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806367; longitude = -122.642617; captureRadius = 10; duration = 202; initialDepth = 2169.983710; finalDepth = 2155.909308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2155.909308 # Seafloor depth: -2230.909308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.006168 meters # Minimum depth: 2244.983710 meters looking forward 0.000000 meters along route # Maximum depth: 2244.983710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2169.983710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806998; longitude = -122.641804; captureRadius = 10; duration = 214; initialDepth = 2183.334084; finalDepth = 2169.983710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2169.98371 # Seafloor depth: -2244.983710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.655898 meters # Minimum depth: 2258.334084 meters looking forward 0.000000 meters along route # Maximum depth: 2258.334084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2183.334084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807663; longitude = -122.640946; captureRadius = 10; duration = 211; initialDepth = 2194.512756; finalDepth = 2183.334084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2183.334084 # Seafloor depth: -2258.334084 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 91.747371 meters # Minimum depth: 2269.512756 meters looking forward 0.000000 meters along route # Maximum depth: 2269.512756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2194.512756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808320; longitude = -122.640099; captureRadius = 10; duration = 183; # abortOnTimeout = True; initialDepth = 2202.058021; finalDepth = 2194.512756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2194.512756 # Seafloor depth: -2269.512756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.252629 meters # Minimum depth: 2277.058021 meters looking forward 0.000000 meters along route # Maximum depth: 2277.058021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2202.058021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807720; longitude = -122.639399; captureRadius = 10; duration = 216; initialDepth = 2160.447815; finalDepth = 2202.058021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2202.058021 # Seafloor depth: -2277.058021 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 103.889946 meters # Minimum depth: 2235.447815 meters looking forward 0.000000 meters along route # Maximum depth: 2235.447815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2160.447815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807013; longitude = -122.638573; captureRadius = 10; duration = 207; # abortOnTimeout = True; initialDepth = 2148.029283; finalDepth = 2160.447815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2160.447815 # Seafloor depth: -2235.447815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.452132 meters # Minimum depth: 2223.029283 meters looking forward 0.000000 meters along route # Maximum depth: 2223.029283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2148.029283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806367; longitude = -122.639406; captureRadius = 10; duration = 202; initialDepth = 2120.464593; finalDepth = 2148.029283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2148.029283 # Seafloor depth: -2223.029283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.452542 meters # Minimum depth: 2195.464593 meters looking forward 0.000000 meters along route # Maximum depth: 2195.464593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2120.464593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805736; longitude = -122.640219; captureRadius = 10; duration = 202; initialDepth = 2077.170708; finalDepth = 2120.464593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2120.464593 # Seafloor depth: -2195.464593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.452951 meters # Minimum depth: 2152.170708 meters looking forward 0.000000 meters along route # Maximum depth: 2152.170708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2077.170708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805105; longitude = -122.641032; captureRadius = 10; duration = 202; initialDepth = 2059.041746; finalDepth = 2077.170708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2077.170708 # Seafloor depth: -2152.170708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.453361 meters # Minimum depth: 2134.041746 meters looking forward 0.000000 meters along route # Maximum depth: 2134.041746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2059.041746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804474; longitude = -122.641845; captureRadius = 10; duration = 202; initialDepth = 2097.922135; finalDepth = 2059.041746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2059.041746 # Seafloor depth: -2134.041746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.453770 meters # Minimum depth: 2172.922135 meters looking forward 0.000000 meters along route # Maximum depth: 2172.922135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2097.922135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803843; longitude = -122.642658; captureRadius = 10; duration = 202; initialDepth = 2125.842774; finalDepth = 2097.922135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2097.922135 # Seafloor depth: -2172.922135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.454180 meters # Minimum depth: 2200.842774 meters looking forward 0.000000 meters along route # Maximum depth: 2200.842774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2125.842774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803212; longitude = -122.643471; captureRadius = 10; duration = 202; initialDepth = 2141.552396; finalDepth = 2125.842774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2125.842774 # Seafloor depth: -2200.842774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.454590 meters # Minimum depth: 2216.552396 meters looking forward 0.000000 meters along route # Maximum depth: 2216.552396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2141.552396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802581; longitude = -122.644284; captureRadius = 10; duration = 202; initialDepth = 2165.251557; finalDepth = 2141.552396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2141.552396 # Seafloor depth: -2216.552396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.415275 meters # Minimum depth: 2240.251557 meters looking forward 0.000000 meters along route # Maximum depth: 2240.251557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2165.251557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801950; longitude = -122.645097; captureRadius = 10; duration = 204; initialDepth = 2162.950020; finalDepth = 2165.251557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2165.251557 # Seafloor depth: -2240.251557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.495133 meters # Minimum depth: 2237.950020 meters looking forward 0.000000 meters along route # Maximum depth: 2237.950020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2162.950020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801313; longitude = -122.645918; captureRadius = 10; duration = 200; initialDepth = 2136.423024; finalDepth = 2162.950020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2162.95002 # Seafloor depth: -2237.950020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.455818 meters # Minimum depth: 2211.423024 meters looking forward 0.000000 meters along route # Maximum depth: 2211.423024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2136.423024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800688; longitude = -122.646723; captureRadius = 10; duration = 202; initialDepth = 2098.293072; finalDepth = 2136.423024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2136.423024 # Seafloor depth: -2211.423024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.456228 meters # Minimum depth: 2173.293072 meters looking forward 0.000000 meters along route # Maximum depth: 2173.293072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2098.293072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800057; longitude = -122.647536; captureRadius = 10; duration = 202; initialDepth = 2068.797604; finalDepth = 2098.293072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2098.293072 # Seafloor depth: -2173.293072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.456638 meters # Minimum depth: 2143.797604 meters looking forward 0.000000 meters along route # Maximum depth: 2143.797604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2068.797604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799426; longitude = -122.648349; captureRadius = 10; duration = 202; initialDepth = 2046.938429; finalDepth = 2068.797604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2068.797604 # Seafloor depth: -2143.797604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.457047 meters # Minimum depth: 2121.938429 meters looking forward 0.000000 meters along route # Maximum depth: 2121.938429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2046.938429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798795; longitude = -122.649162; captureRadius = 10; duration = 202; initialDepth = 2006.257495; finalDepth = 2046.938429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2046.938429 # Seafloor depth: -2121.938429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.457457 meters # Minimum depth: 2081.257495 meters looking forward 0.000000 meters along route # Maximum depth: 2081.257495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2006.257495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798165; longitude = -122.649975; captureRadius = 10; duration = 202; initialDepth = 1971.656337; finalDepth = 2006.257495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2006.257495 # Seafloor depth: -2081.257495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.457867 meters # Minimum depth: 2046.656337 meters looking forward 0.000000 meters along route # Maximum depth: 2046.656337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1971.656337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797534; longitude = -122.650788; captureRadius = 10; duration = 202; initialDepth = 1911.240240; finalDepth = 1971.656337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1971.656337 # Seafloor depth: -2046.656337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.458277 meters # Minimum depth: 1986.240240 meters looking forward 0.000000 meters along route # Maximum depth: 1986.240240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1911.240240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796903; longitude = -122.651601; captureRadius = 10; duration = 202; initialDepth = 1871.774200; finalDepth = 1911.240240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1911.24024 # Seafloor depth: -1986.240240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.458686 meters # Minimum depth: 1946.774200 meters looking forward 0.000000 meters along route # Maximum depth: 1946.774200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1871.774200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796272; longitude = -122.652414; captureRadius = 10; duration = 202; initialDepth = 1866.522015; finalDepth = 1871.774200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1871.7742 # Seafloor depth: -1946.774200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.459096 meters # Minimum depth: 1941.522015 meters looking forward 0.000000 meters along route # Maximum depth: 1941.522015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1866.522015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795641; longitude = -122.653227; captureRadius = 10; duration = 202; initialDepth = 1826.191459; finalDepth = 1866.522015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1866.522015 # Seafloor depth: -1941.522015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.459506 meters # Minimum depth: 1901.191459 meters looking forward 0.000000 meters along route # Maximum depth: 1901.191459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1826.191459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795010; longitude = -122.654040; captureRadius = 10; duration = 202; initialDepth = 1762.480789; finalDepth = 1826.191459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1826.191459 # Seafloor depth: -1901.191459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.459915 meters # Minimum depth: 1837.480789 meters looking forward 0.000000 meters along route # Maximum depth: 1837.480789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.480789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794379; longitude = -122.654853; captureRadius = 10; duration = 202; initialDepth = 1708.585018; finalDepth = 1762.480789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.480789 # Seafloor depth: -1837.480789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.460325 meters # Minimum depth: 1783.585018 meters looking forward 0.000000 meters along route # Maximum depth: 1783.585018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1708.585018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793748; longitude = -122.655666; captureRadius = 10; duration = 202; initialDepth = 1687.260073; finalDepth = 1708.585018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1708.585018 # Seafloor depth: -1783.585018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.166216 meters # Minimum depth: 1762.260073 meters looking forward 0.000000 meters along route # Maximum depth: 1762.260073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.260073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793117; longitude = -122.656479; captureRadius = 10; duration = 204; initialDepth = 1722.949935; finalDepth = 1687.260073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.260073 # Seafloor depth: -1762.260073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.755664 meters # Minimum depth: 1797.949935 meters looking forward 0.000000 meters along route # Maximum depth: 1797.949935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1722.949935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792482; longitude = -122.657298; captureRadius = 10; duration = 201; initialDepth = 1727.508556; finalDepth = 1722.949935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1722.949935 # Seafloor depth: -1797.949935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.461554 meters # Minimum depth: 1802.508556 meters looking forward 0.000000 meters along route # Maximum depth: 1802.508556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1727.508556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791855; longitude = -122.658105; captureRadius = 10; duration = 202; initialDepth = 1730.581813; finalDepth = 1727.508556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1727.508556 # Seafloor depth: -1802.508556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.461964 meters # Minimum depth: 1805.581813 meters looking forward 0.000000 meters along route # Maximum depth: 1805.581813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1730.581813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791224; longitude = -122.658918; captureRadius = 10; duration = 202; initialDepth = 1745.954842; finalDepth = 1730.581813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1730.581813 # Seafloor depth: -1805.581813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.462374 meters # Minimum depth: 1820.954842 meters looking forward 0.000000 meters along route # Maximum depth: 1820.954842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1745.954842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790593; longitude = -122.659731; captureRadius = 10; duration = 202; initialDepth = 1742.192777; finalDepth = 1745.954842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1745.954842 # Seafloor depth: -1820.954842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.462784 meters # Minimum depth: 1817.192777 meters looking forward 0.000000 meters along route # Maximum depth: 1817.192777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1742.192777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789962; longitude = -122.660544; captureRadius = 10; duration = 202; initialDepth = 1737.169702; finalDepth = 1742.192777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1742.192777 # Seafloor depth: -1817.192777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.463193 meters # Minimum depth: 1812.169702 meters looking forward 0.000000 meters along route # Maximum depth: 1812.169702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1737.169702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789331; longitude = -122.661357; captureRadius = 10; duration = 202; initialDepth = 1721.548383; finalDepth = 1737.169702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1737.169702 # Seafloor depth: -1812.169702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.463604 meters # Minimum depth: 1796.548383 meters looking forward 0.000000 meters along route # Maximum depth: 1796.548383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1721.548383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788700; longitude = -122.662170; captureRadius = 10; duration = 202; initialDepth = 1703.072399; finalDepth = 1721.548383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1721.548383 # Seafloor depth: -1796.548383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.464013 meters # Minimum depth: 1778.072399 meters looking forward 0.000000 meters along route # Maximum depth: 1778.072399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1703.072399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788069; longitude = -122.662983; captureRadius = 10; duration = 202; initialDepth = 1686.860589; finalDepth = 1703.072399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1703.072399 # Seafloor depth: -1778.072399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.464423 meters # Minimum depth: 1761.860589 meters looking forward 0.000000 meters along route # Maximum depth: 1761.860589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1686.860589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787439; longitude = -122.663796; captureRadius = 10; duration = 202; initialDepth = 1680.992878; finalDepth = 1686.860589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1686.860589 # Seafloor depth: -1761.860589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.464833 meters # Minimum depth: 1755.992878 meters looking forward 0.000000 meters along route # Maximum depth: 1755.992878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1680.992878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786808; longitude = -122.664609; captureRadius = 10; duration = 202; initialDepth = 1670.890553; finalDepth = 1680.992878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1680.992878 # Seafloor depth: -1755.992878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.465242 meters # Minimum depth: 1745.890553 meters looking forward 0.000000 meters along route # Maximum depth: 1745.890553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1670.890553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786177; longitude = -122.665422; captureRadius = 10; duration = 202; initialDepth = 1672.654449; finalDepth = 1670.890553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1670.890553 # Seafloor depth: -1745.890553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.465653 meters # Minimum depth: 1747.654449 meters looking forward 0.000000 meters along route # Maximum depth: 1747.654449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.654449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785546; longitude = -122.666235; captureRadius = 10; duration = 202; initialDepth = 1670.968125; finalDepth = 1672.654449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1672.654449 # Seafloor depth: -1747.654449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.466062 meters # Minimum depth: 1745.968125 meters looking forward 0.000000 meters along route # Maximum depth: 1745.968125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1670.968125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784915; longitude = -122.667048; captureRadius = 10; duration = 202; initialDepth = 1676.201059; finalDepth = 1670.968125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1670.968125 # Seafloor depth: -1745.968125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.917129 meters # Minimum depth: 1751.201059 meters looking forward 0.000000 meters along route # Maximum depth: 1751.201059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1676.201059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784284; longitude = -122.667861; captureRadius = 10; duration = 203; initialDepth = 1721.758749; finalDepth = 1676.201059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1676.201059 # Seafloor depth: -1751.201059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.016226 meters # Minimum depth: 1796.758749 meters looking forward 0.000000 meters along route # Maximum depth: 1796.758749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1721.758749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783650; longitude = -122.668677; captureRadius = 10; duration = 202; initialDepth = 1768.863388; finalDepth = 1721.758749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1721.758749 # Seafloor depth: -1796.758749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.467291 meters # Minimum depth: 1845.987531 meters looking forward 0.000000 meters along route # Maximum depth: 1845.987531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1768.863388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783022; longitude = -122.669487; captureRadius = 10; duration = 202; initialDepth = 1816.178362; finalDepth = 1768.863388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1241431336384 # Actual altitude: 77.1241431336384 # Commanded vehicle depth: 1768.86338786636 # Seafloor depth: -1845.987531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.467702 meters # Minimum depth: 1910.286379 meters looking forward 0.000000 meters along route # Maximum depth: 1910.286379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1816.178362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782391; longitude = -122.670300; captureRadius = 10; duration = 202; initialDepth = 1853.268490; finalDepth = 1816.178362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.1080172075378 # Actual altitude: 94.1080172075378 # Commanded vehicle depth: 1816.17836179246 # Seafloor depth: -1910.286379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.468112 meters # Minimum depth: 1928.268490 meters looking forward 0.000000 meters along route # Maximum depth: 1928.268490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1853.268490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781760; longitude = -122.671113; captureRadius = 10; duration = 202; initialDepth = 1845.672375; finalDepth = 1853.268490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.1080172075378 # Actual altitude: 94.1080172075378 # Commanded vehicle depth: 1853.26849 # Seafloor depth: -1928.268490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.468522 meters # Minimum depth: 1920.672375 meters looking forward 0.000000 meters along route # Maximum depth: 1920.672375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1845.672375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781129; longitude = -122.671926; captureRadius = 10; duration = 202; initialDepth = 1855.637378; finalDepth = 1845.672375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1845.672375 # Seafloor depth: -1920.672375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.468931 meters # Minimum depth: 1930.637378 meters looking forward 0.000000 meters along route # Maximum depth: 1930.637378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1855.637378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780498; longitude = -122.672739; captureRadius = 10; duration = 202; initialDepth = 1855.003996; finalDepth = 1855.637378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1855.637378 # Seafloor depth: -1930.637378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.469342 meters # Minimum depth: 1930.003996 meters looking forward 0.000000 meters along route # Maximum depth: 1930.003996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1855.003996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779867; longitude = -122.673552; captureRadius = 10; duration = 202; initialDepth = 1846.827696; finalDepth = 1855.003996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1855.003996 # Seafloor depth: -1930.003996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.469751 meters # Minimum depth: 1921.827696 meters looking forward 0.000000 meters along route # Maximum depth: 1921.827696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1846.827696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779236; longitude = -122.674365; captureRadius = 10; duration = 202; initialDepth = 1837.580855; finalDepth = 1846.827696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1846.827696 # Seafloor depth: -1921.827696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.470162 meters # Minimum depth: 1912.580855 meters looking forward 0.000000 meters along route # Maximum depth: 1912.580855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1837.580855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778605; longitude = -122.675178; captureRadius = 10; duration = 202; initialDepth = 1819.600284; finalDepth = 1837.580855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1837.580855 # Seafloor depth: -1912.580855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.470571 meters # Minimum depth: 1894.600284 meters looking forward 0.000000 meters along route # Maximum depth: 1894.600284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1819.600284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777974; longitude = -122.675991; captureRadius = 10; duration = 202; initialDepth = 1801.859669; finalDepth = 1819.600284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1819.600284 # Seafloor depth: -1894.600284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.706380 meters # Minimum depth: 1876.859669 meters looking forward 0.000000 meters along route # Maximum depth: 1876.859669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1801.859669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777343; longitude = -122.676804; captureRadius = 10; duration = 205; initialDepth = 1809.450451; finalDepth = 1801.859669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1801.859669 # Seafloor depth: -1876.859669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.235993 meters # Minimum depth: 1884.450451 meters looking forward 0.000000 meters along route # Maximum depth: 1884.450451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1809.450451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776705; longitude = -122.677627; captureRadius = 10; duration = 200; initialDepth = 1796.878901; finalDepth = 1809.450451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1809.450451 # Seafloor depth: -1884.450451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.471801 meters # Minimum depth: 1871.878901 meters looking forward 0.000000 meters along route # Maximum depth: 1871.878901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1796.878901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776082; longitude = -122.678430; captureRadius = 10; duration = 202; initialDepth = 1762.324853; finalDepth = 1796.878901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1796.878901 # Seafloor depth: -1871.878901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.668015 meters # Minimum depth: 1837.324853 meters looking forward 0.000000 meters along route # Maximum depth: 1837.324853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.324853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775451; longitude = -122.679243; captureRadius = 10; duration = 203; initialDepth = 1738.795257; finalDepth = 1762.324853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.324853 # Seafloor depth: -1837.324853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.276817 meters # Minimum depth: 1813.795257 meters looking forward 0.000000 meters along route # Maximum depth: 1813.795257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1738.795257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774819; longitude = -122.680057; captureRadius = 10; duration = 202; initialDepth = 1695.728108; finalDepth = 1738.795257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1738.795257 # Seafloor depth: -1813.795257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.473032 meters # Minimum depth: 1770.728108 meters looking forward 0.000000 meters along route # Maximum depth: 1770.728108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1695.728108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774189; longitude = -122.680869; captureRadius = 10; duration = 202; initialDepth = 1672.189530; finalDepth = 1695.728108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1695.728108 # Seafloor depth: -1770.728108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.473441 meters # Minimum depth: 1747.189530 meters looking forward 0.000000 meters along route # Maximum depth: 1747.189530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.189530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773558; longitude = -122.681682; captureRadius = 10; duration = 202; initialDepth = 1649.296375; finalDepth = 1672.189530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1672.18953 # Seafloor depth: -1747.189530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.473851 meters # Minimum depth: 1724.296375 meters looking forward 0.000000 meters along route # Maximum depth: 1724.296375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.296375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772927; longitude = -122.682495; captureRadius = 10; duration = 202; initialDepth = 1643.103655; finalDepth = 1649.296375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.296375 # Seafloor depth: -1724.296375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.474261 meters # Minimum depth: 1718.103655 meters looking forward 0.000000 meters along route # Maximum depth: 1718.103655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1643.103655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772296; longitude = -122.683308; captureRadius = 10; duration = 202; initialDepth = 1635.538641; finalDepth = 1643.103655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1643.103655 # Seafloor depth: -1718.103655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.474672 meters # Minimum depth: 1710.538641 meters looking forward 0.000000 meters along route # Maximum depth: 1710.538641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.538641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771665; longitude = -122.684121; captureRadius = 10; duration = 202; initialDepth = 1657.221218; finalDepth = 1635.538641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.538641 # Seafloor depth: -1710.538641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.475081 meters # Minimum depth: 1732.221218 meters looking forward 0.000000 meters along route # Maximum depth: 1732.221218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1657.221218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771034; longitude = -122.684934; captureRadius = 10; duration = 202; initialDepth = 1682.258481; finalDepth = 1657.221218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1657.221218 # Seafloor depth: -1732.221218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.475491 meters # Minimum depth: 1757.258481 meters looking forward 0.000000 meters along route # Maximum depth: 1757.258481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.258481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770403; longitude = -122.685747; captureRadius = 10; duration = 202; initialDepth = 1696.273968; finalDepth = 1682.258481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.258481 # Seafloor depth: -1757.258481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.475902 meters # Minimum depth: 1771.273968 meters looking forward 0.000000 meters along route # Maximum depth: 1771.273968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1696.273968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769772; longitude = -122.686560; captureRadius = 10; duration = 202; initialDepth = 1697.500057; finalDepth = 1696.273968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1696.273968 # Seafloor depth: -1771.273968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.476312 meters # Minimum depth: 1772.500057 meters looking forward 0.000000 meters along route # Maximum depth: 1772.500057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1697.500057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769141; longitude = -122.687373; captureRadius = 10; duration = 202; initialDepth = 1699.768982; finalDepth = 1697.500057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1697.500057 # Seafloor depth: -1772.500057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.457299 meters # Minimum depth: 1774.768982 meters looking forward 0.000000 meters along route # Maximum depth: 1774.768982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1699.768982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768510; longitude = -122.688186; captureRadius = 10; duration = 204; initialDepth = 1653.082004; finalDepth = 1699.768982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1699.768982 # Seafloor depth: -1774.768982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.496554 meters # Minimum depth: 1728.082004 meters looking forward 0.000000 meters along route # Maximum depth: 1728.082004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1653.082004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767873; longitude = -122.689007; captureRadius = 10; duration = 200; initialDepth = 1663.622975; finalDepth = 1653.082004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1653.082004 # Seafloor depth: -1728.082004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.477542 meters # Minimum depth: 1738.622975 meters looking forward 0.000000 meters along route # Maximum depth: 1738.622975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1663.622975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767248; longitude = -122.689812; captureRadius = 10; duration = 202; initialDepth = 1671.516098; finalDepth = 1663.622975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1663.622975 # Seafloor depth: -1738.622975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.477952 meters # Minimum depth: 1746.516098 meters looking forward 0.000000 meters along route # Maximum depth: 1746.516098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.516098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766618; longitude = -122.690625; captureRadius = 10; duration = 202; initialDepth = 1662.611424; finalDepth = 1671.516098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1671.516098 # Seafloor depth: -1746.516098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.478362 meters # Minimum depth: 1737.611424 meters looking forward 0.000000 meters along route # Maximum depth: 1737.611424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1662.611424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765987; longitude = -122.691438; captureRadius = 10; duration = 202; initialDepth = 1654.839478; finalDepth = 1662.611424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1662.611424 # Seafloor depth: -1737.611424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.478772 meters # Minimum depth: 1729.839478 meters looking forward 0.000000 meters along route # Maximum depth: 1729.839478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1654.839478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765356; longitude = -122.692251; captureRadius = 10; duration = 202; initialDepth = 1641.026755; finalDepth = 1654.839478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1654.839478 # Seafloor depth: -1729.839478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.479182 meters # Minimum depth: 1716.026755 meters looking forward 0.000000 meters along route # Maximum depth: 1716.026755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.026755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764725; longitude = -122.693064; captureRadius = 10; duration = 202; initialDepth = 1614.512077; finalDepth = 1641.026755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.026755 # Seafloor depth: -1716.026755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.479592 meters # Minimum depth: 1689.512077 meters looking forward 0.000000 meters along route # Maximum depth: 1689.512077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1614.512077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764094; longitude = -122.693877; captureRadius = 10; duration = 202; initialDepth = 1614.350335; finalDepth = 1614.512077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1614.512077 # Seafloor depth: -1689.512077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.480003 meters # Minimum depth: 1689.350335 meters looking forward 0.000000 meters along route # Maximum depth: 1689.350335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1614.350335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763463; longitude = -122.694690; captureRadius = 10; duration = 202; initialDepth = 1591.975193; finalDepth = 1614.350335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1614.350335 # Seafloor depth: -1689.350335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.480413 meters # Minimum depth: 1666.975193 meters looking forward 0.000000 meters along route # Maximum depth: 1666.975193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1591.975193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762832; longitude = -122.695503; captureRadius = 10; duration = 202; initialDepth = 1551.332077; finalDepth = 1591.975193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1591.975193 # Seafloor depth: -1666.975193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.480823 meters # Minimum depth: 1626.332077 meters looking forward 0.000000 meters along route # Maximum depth: 1626.332077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1551.332077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762201; longitude = -122.696316; captureRadius = 10; duration = 202; initialDepth = 1495.499176; finalDepth = 1551.332077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1551.332077 # Seafloor depth: -1626.332077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.481233 meters # Minimum depth: 1570.499176 meters looking forward 0.000000 meters along route # Maximum depth: 1570.499176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1495.499176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761570; longitude = -122.697129; captureRadius = 10; duration = 202; initialDepth = 1458.748273; finalDepth = 1495.499176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1495.499176 # Seafloor depth: -1570.499176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.481643 meters # Minimum depth: 1533.748273 meters looking forward 0.000000 meters along route # Maximum depth: 1533.748273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1458.748273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760939; longitude = -122.697942; captureRadius = 10; duration = 202; initialDepth = 1425.598128; finalDepth = 1458.748273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1458.748273 # Seafloor depth: -1533.748273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.482053 meters # Minimum depth: 1500.598128 meters looking forward 0.000000 meters along route # Maximum depth: 1500.598128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1425.598128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760308; longitude = -122.698755; captureRadius = 10; duration = 202; initialDepth = 1395.922233; finalDepth = 1425.598128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1425.598128 # Seafloor depth: -1500.598128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.208193 meters # Minimum depth: 1470.922233 meters looking forward 0.000000 meters along route # Maximum depth: 1470.922233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1395.922233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759677; longitude = -122.699568; captureRadius = 10; duration = 204; initialDepth = 1368.365483; finalDepth = 1395.922233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1395.922233 # Seafloor depth: -1470.922233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.757145 meters # Minimum depth: 1443.365483 meters looking forward 0.000000 meters along route # Maximum depth: 1443.365483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1368.365483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759042; longitude = -122.700387; captureRadius = 10; duration = 201; initialDepth = 1330.362901; finalDepth = 1368.365483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1368.365483 # Seafloor depth: -1443.365483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.483284 meters # Minimum depth: 1405.362901 meters looking forward 0.000000 meters along route # Maximum depth: 1405.362901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1330.362901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758415; longitude = -122.701194; captureRadius = 10; duration = 202; initialDepth = 1305.507048; finalDepth = 1330.362901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1330.362901 # Seafloor depth: -1405.362901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.483694 meters # Minimum depth: 1380.507048 meters looking forward 0.000000 meters along route # Maximum depth: 1380.507048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1305.507048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757784; longitude = -122.702007; captureRadius = 10; duration = 202; initialDepth = 1305.789527; finalDepth = 1305.507048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1305.507048 # Seafloor depth: -1380.507048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.484104 meters # Minimum depth: 1380.789527 meters looking forward 0.000000 meters along route # Maximum depth: 1380.789527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1305.789527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757153; longitude = -122.702820; captureRadius = 10; duration = 202; initialDepth = 1281.246472; finalDepth = 1305.789527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1305.789527 # Seafloor depth: -1380.789527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.484515 meters # Minimum depth: 1356.246472 meters looking forward 0.000000 meters along route # Maximum depth: 1356.246472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1281.246472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756522; longitude = -122.703633; captureRadius = 10; duration = 202; initialDepth = 1328.569478; finalDepth = 1281.246472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1281.246472 # Seafloor depth: -1356.246472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.484925 meters # Minimum depth: 1404.308745 meters looking forward 0.000000 meters along route # Maximum depth: 1404.308745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1328.569478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755892; longitude = -122.704446; captureRadius = 10; duration = 202; initialDepth = 1357.424890; finalDepth = 1328.569478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7392673909519 # Actual altitude: 75.7392673909519 # Commanded vehicle depth: 1328.56947760905 # Seafloor depth: -1404.308745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.485335 meters # Minimum depth: 1432.424890 meters looking forward 0.000000 meters along route # Maximum depth: 1432.424890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1357.424890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755261; longitude = -122.705259; captureRadius = 10; duration = 202; initialDepth = 1404.748278; finalDepth = 1357.424890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7392673909519 # Actual altitude: 75.7392673909519 # Commanded vehicle depth: 1357.42489 # Seafloor depth: -1432.424890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.485746 meters # Minimum depth: 1513.432023 meters looking forward 0.000000 meters along route # Maximum depth: 1513.432023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.748278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754630; longitude = -122.706072; captureRadius = 10; duration = 202; initialDepth = 1452.071858; finalDepth = 1404.748278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.683745018681 # Actual altitude: 100 # Commanded vehicle depth: 1404.74827798132 # Seafloor depth: -1513.432023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.486156 meters # Minimum depth: 1563.422267 meters looking forward 0.000000 meters along route # Maximum depth: 1563.422267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1452.071858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753999; longitude = -122.706885; captureRadius = 10; duration = 202; initialDepth = 1499.395628; finalDepth = 1452.071858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.350409384916 # Actual altitude: 100 # Commanded vehicle depth: 1452.07185761508 # Seafloor depth: -1563.422267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.486566 meters # Minimum depth: 1588.892596 meters looking forward 0.000000 meters along route # Maximum depth: 1588.892596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1499.395628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753368; longitude = -122.707698; captureRadius = 10; duration = 202; initialDepth = 1520.495987; finalDepth = 1499.395628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.350409384916 # Actual altitude: 100 # Commanded vehicle depth: 1499.39562843498 # Seafloor depth: -1588.892596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.486976 meters # Minimum depth: 1595.495987 meters looking forward 0.000000 meters along route # Maximum depth: 1595.495987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1520.495987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752737; longitude = -122.708511; captureRadius = 10; duration = 202; initialDepth = 1537.554554; finalDepth = 1520.495987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.4969675650159 # Actual altitude: 89.4969675650159 # Commanded vehicle depth: 1520.495987 # Seafloor depth: -1595.495987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.487387 meters # Minimum depth: 1612.554554 meters looking forward 0.000000 meters along route # Maximum depth: 1612.554554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1537.554554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752106; longitude = -122.709324; captureRadius = 10; duration = 202; initialDepth = 1584.878899; finalDepth = 1537.554554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1537.554554 # Seafloor depth: -1612.554554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.902574 meters # Minimum depth: 1667.574661 meters looking forward 0.000000 meters along route # Maximum depth: 1667.574661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1584.878899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751475; longitude = -122.710137; captureRadius = 10; duration = 213; initialDepth = 1633.374915; finalDepth = 1584.878899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6957621553834 # Actual altitude: 82.6957621553834 # Commanded vehicle depth: 1584.87889884462 # Seafloor depth: -1667.574661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 330.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 330.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.738995 meters # Minimum depth: 1708.374915 meters looking forward 0.000000 meters along route # Maximum depth: 1708.374915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1633.374915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750810; longitude = -122.710993; captureRadius = 10; duration = 211; initialDepth = 1672.820964; finalDepth = 1633.374915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.6957621553834 # Actual altitude: 82.6957621553834 # Commanded vehicle depth: 1633.374915 # Seafloor depth: -1708.374915 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 330.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 330.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 94.138554 meters # Minimum depth: 1747.820964 meters looking forward 0.000000 meters along route # Maximum depth: 1747.820964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.820964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750153; longitude = -122.711840; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 1668.431553; finalDepth = 1672.820964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1672.820964 # Seafloor depth: -1747.820964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.417961 meters # Minimum depth: 1743.431553 meters looking forward 0.000000 meters along route # Maximum depth: 1743.431553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.431553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749659; longitude = -122.710993; captureRadius = 10; duration = 212; initialDepth = 1650.232747; finalDepth = 1668.431553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.431553 # Seafloor depth: -1743.431553 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 164.373897 meters # Minimum depth: 1725.232747 meters looking forward 0.000000 meters along route # Maximum depth: 1725.232747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1650.232747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749101; longitude = -122.710036; captureRadius = 10; duration = 328; # abortOnTimeout = True; initialDepth = 1624.671024; finalDepth = 1650.232747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1650.232747 # Seafloor depth: -1725.232747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.187066 meters # Minimum depth: 1699.671024 meters looking forward 0.000000 meters along route # Maximum depth: 1699.671024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.671024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750123; longitude = -122.708719; captureRadius = 10; duration = 204; initialDepth = 1603.152607; finalDepth = 1624.671024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.671024 # Seafloor depth: -1699.671024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.861556 meters # Minimum depth: 1678.152607 meters looking forward 0.000000 meters along route # Maximum depth: 1678.152607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1603.152607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750758; longitude = -122.707900; captureRadius = 10; duration = 201; initialDepth = 1590.746014; finalDepth = 1603.152607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1603.152607 # Seafloor depth: -1678.152607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.523695 meters # Minimum depth: 1665.746014 meters looking forward 0.000000 meters along route # Maximum depth: 1665.746014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1590.746014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751385; longitude = -122.707091; captureRadius = 10; duration = 203; initialDepth = 1564.966705; finalDepth = 1590.746014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1590.746014 # Seafloor depth: -1665.746014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.523284 meters # Minimum depth: 1639.966705 meters looking forward 0.000000 meters along route # Maximum depth: 1639.966705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1564.966705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752016; longitude = -122.706278; captureRadius = 10; duration = 203; initialDepth = 1492.900996; finalDepth = 1564.966705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1564.966705 # Seafloor depth: -1639.966705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.522874 meters # Minimum depth: 1567.900996 meters looking forward 0.000000 meters along route # Maximum depth: 1567.900996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1492.900996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752647; longitude = -122.705464; captureRadius = 10; duration = 203; initialDepth = 1478.150641; finalDepth = 1492.900996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1492.900996 # Seafloor depth: -1567.900996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.522463 meters # Minimum depth: 1553.150641 meters looking forward 0.000000 meters along route # Maximum depth: 1553.150641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1478.150641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753278; longitude = -122.704651; captureRadius = 10; duration = 203; initialDepth = 1417.237248; finalDepth = 1478.150641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1478.150641 # Seafloor depth: -1553.150641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.522052 meters # Minimum depth: 1492.237248 meters looking forward 0.000000 meters along route # Maximum depth: 1492.237248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.237248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753909; longitude = -122.703837; captureRadius = 10; duration = 203; initialDepth = 1368.412691; finalDepth = 1417.237248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1417.237248 # Seafloor depth: -1492.237248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.521642 meters # Minimum depth: 1443.412691 meters looking forward 0.000000 meters along route # Maximum depth: 1443.412691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1368.412691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754539; longitude = -122.703024; captureRadius = 10; duration = 203; initialDepth = 1367.390364; finalDepth = 1368.412691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1368.412691 # Seafloor depth: -1443.412691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.521231 meters # Minimum depth: 1442.390364 meters looking forward 0.000000 meters along route # Maximum depth: 1442.390364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1367.390364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755170; longitude = -122.702210; captureRadius = 10; duration = 203; initialDepth = 1398.271888; finalDepth = 1367.390364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1367.390364 # Seafloor depth: -1442.390364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.520820 meters # Minimum depth: 1473.271888 meters looking forward 0.000000 meters along route # Maximum depth: 1473.271888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1398.271888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755801; longitude = -122.701397; captureRadius = 10; duration = 203; initialDepth = 1421.239538; finalDepth = 1398.271888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1398.271888 # Seafloor depth: -1473.271888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.520410 meters # Minimum depth: 1496.239538 meters looking forward 0.000000 meters along route # Maximum depth: 1496.239538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1421.239538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756432; longitude = -122.700583; captureRadius = 10; duration = 203; initialDepth = 1426.406721; finalDepth = 1421.239538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1421.239538 # Seafloor depth: -1496.239538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.207714 meters # Minimum depth: 1501.406721 meters looking forward 0.000000 meters along route # Maximum depth: 1501.406721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.406721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757063; longitude = -122.699769; captureRadius = 10; duration = 204; initialDepth = 1448.944576; finalDepth = 1426.406721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1426.406721 # Seafloor depth: -1501.406721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.831873 meters # Minimum depth: 1523.944576 meters looking forward 0.000000 meters along route # Maximum depth: 1523.944576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1448.944576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757698; longitude = -122.698950; captureRadius = 10; duration = 201; initialDepth = 1472.108944; finalDepth = 1448.944576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1448.944576 # Seafloor depth: -1523.944576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.519178 meters # Minimum depth: 1547.108944 meters looking forward 0.000000 meters along route # Maximum depth: 1547.108944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1472.108944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758325; longitude = -122.698142; captureRadius = 10; duration = 203; initialDepth = 1504.354091; finalDepth = 1472.108944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1472.108944 # Seafloor depth: -1547.108944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.518768 meters # Minimum depth: 1579.354091 meters looking forward 0.000000 meters along route # Maximum depth: 1579.354091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1504.354091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758956; longitude = -122.697329; captureRadius = 10; duration = 203; initialDepth = 1530.255221; finalDepth = 1504.354091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1504.354091 # Seafloor depth: -1579.354091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.518357 meters # Minimum depth: 1605.255221 meters looking forward 0.000000 meters along route # Maximum depth: 1605.255221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.255221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759587; longitude = -122.696515; captureRadius = 10; duration = 203; initialDepth = 1543.750277; finalDepth = 1530.255221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1530.255221 # Seafloor depth: -1605.255221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.517946 meters # Minimum depth: 1618.750277 meters looking forward 0.000000 meters along route # Maximum depth: 1618.750277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1543.750277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760218; longitude = -122.695702; captureRadius = 10; duration = 203; initialDepth = 1579.704086; finalDepth = 1543.750277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1543.750277 # Seafloor depth: -1618.750277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.517536 meters # Minimum depth: 1654.704086 meters looking forward 0.000000 meters along route # Maximum depth: 1654.704086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1579.704086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760849; longitude = -122.694888; captureRadius = 10; duration = 203; initialDepth = 1569.785718; finalDepth = 1579.704086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1579.704086 # Seafloor depth: -1654.704086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.517125 meters # Minimum depth: 1644.785718 meters looking forward 0.000000 meters along route # Maximum depth: 1644.785718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1569.785718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761480; longitude = -122.694075; captureRadius = 10; duration = 203; initialDepth = 1509.256730; finalDepth = 1569.785718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1569.785718 # Seafloor depth: -1644.785718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.516715 meters # Minimum depth: 1584.256730 meters looking forward 0.000000 meters along route # Maximum depth: 1584.256730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.256730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762111; longitude = -122.693261; captureRadius = 10; duration = 203; initialDepth = 1535.738212; finalDepth = 1509.256730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1509.25673 # Seafloor depth: -1584.256730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.516304 meters # Minimum depth: 1610.738212 meters looking forward 0.000000 meters along route # Maximum depth: 1610.738212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1535.738212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762742; longitude = -122.692447; captureRadius = 10; duration = 203; initialDepth = 1583.076041; finalDepth = 1535.738212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1535.738212 # Seafloor depth: -1610.738212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.515893 meters # Minimum depth: 1677.368516 meters looking forward 0.000000 meters along route # Maximum depth: 1677.368516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1583.076041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763373; longitude = -122.691634; captureRadius = 10; duration = 203; initialDepth = 1630.413678; finalDepth = 1583.076041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.2924749370948 # Actual altitude: 94.2924749370948 # Commanded vehicle depth: 1583.07604106291 # Seafloor depth: -1677.368516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.228361 meters # Minimum depth: 1745.785085 meters looking forward 0.000000 meters along route # Maximum depth: 1745.785085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1630.413678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764004; longitude = -122.690820; captureRadius = 10; duration = 204; initialDepth = 1678.083545; finalDepth = 1630.413678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.371406526634 # Actual altitude: 100 # Commanded vehicle depth: 1630.41367847337 # Seafloor depth: -1745.785085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.802195 meters # Minimum depth: 1753.933889 meters looking forward 0.000000 meters along route # Maximum depth: 1753.933889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1678.083545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764639; longitude = -122.690001; captureRadius = 10; duration = 201; initialDepth = 1672.241845; finalDepth = 1678.083545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.371406526634 # Actual altitude: 100 # Commanded vehicle depth: 1678.08354516196 # Seafloor depth: -1753.933889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.514662 meters # Minimum depth: 1747.241845 meters looking forward 0.000000 meters along route # Maximum depth: 1747.241845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.241845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765265; longitude = -122.689193; captureRadius = 10; duration = 203; initialDepth = 1671.335353; finalDepth = 1672.241845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.850343838038 # Actual altitude: 75.850343838038 # Commanded vehicle depth: 1672.241845 # Seafloor depth: -1747.241845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 303.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.514252 meters # Minimum depth: 1746.335353 meters looking forward 0.000000 meters along route # Maximum depth: 1746.335353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.335353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765896; longitude = -122.688380; captureRadius = 10; duration = 203; initialDepth = 1657.804049; finalDepth = 1671.335353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1671.335353 # Seafloor depth: -1746.335353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.513841 meters # Minimum depth: 1732.804049 meters looking forward 0.000000 meters along route # Maximum depth: 1732.804049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1657.804049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766527; longitude = -122.687566; captureRadius = 10; duration = 203; initialDepth = 1682.607947; finalDepth = 1657.804049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1657.804049 # Seafloor depth: -1732.804049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.513431 meters # Minimum depth: 1757.607947 meters looking forward 0.000000 meters along route # Maximum depth: 1757.607947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.607947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767158; longitude = -122.686753; captureRadius = 10; duration = 203; initialDepth = 1663.237648; finalDepth = 1682.607947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.607947 # Seafloor depth: -1757.607947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.513020 meters # Minimum depth: 1738.237648 meters looking forward 0.000000 meters along route # Maximum depth: 1738.237648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1663.237648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767789; longitude = -122.685939; captureRadius = 10; duration = 203; initialDepth = 1625.332459; finalDepth = 1663.237648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1663.237648 # Seafloor depth: -1738.237648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.512610 meters # Minimum depth: 1700.332459 meters looking forward 0.000000 meters along route # Maximum depth: 1700.332459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.332459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768420; longitude = -122.685125; captureRadius = 10; duration = 203; initialDepth = 1595.266650; finalDepth = 1625.332459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.332459 # Seafloor depth: -1700.332459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.512200 meters # Minimum depth: 1670.266650 meters looking forward 0.000000 meters along route # Maximum depth: 1670.266650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.266650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769051; longitude = -122.684312; captureRadius = 10; duration = 203; initialDepth = 1570.381647; finalDepth = 1595.266650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1595.26665 # Seafloor depth: -1670.266650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.511789 meters # Minimum depth: 1645.381647 meters looking forward 0.000000 meters along route # Maximum depth: 1645.381647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1570.381647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769682; longitude = -122.683498; captureRadius = 10; duration = 203; initialDepth = 1538.574069; finalDepth = 1570.381647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1570.381647 # Seafloor depth: -1645.381647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.511378 meters # Minimum depth: 1613.574069 meters looking forward 0.000000 meters along route # Maximum depth: 1613.574069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.574069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770313; longitude = -122.682685; captureRadius = 10; duration = 203; initialDepth = 1526.861923; finalDepth = 1538.574069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1538.574069 # Seafloor depth: -1613.574069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.249007 meters # Minimum depth: 1601.861923 meters looking forward 0.000000 meters along route # Maximum depth: 1601.861923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1526.861923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770944; longitude = -122.681871; captureRadius = 10; duration = 204; initialDepth = 1537.538679; finalDepth = 1526.861923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1526.861923 # Seafloor depth: -1601.861923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.772519 meters # Minimum depth: 1612.538679 meters looking forward 0.000000 meters along route # Maximum depth: 1612.538679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1537.538679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771579; longitude = -122.681052; captureRadius = 10; duration = 201; initialDepth = 1547.981410; finalDepth = 1537.538679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1537.538679 # Seafloor depth: -1612.538679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.510148 meters # Minimum depth: 1622.981410 meters looking forward 0.000000 meters along route # Maximum depth: 1622.981410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1547.981410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772206; longitude = -122.680244; captureRadius = 10; duration = 203; initialDepth = 1595.316368; finalDepth = 1547.981410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1547.98141 # Seafloor depth: -1622.981410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.509737 meters # Minimum depth: 1689.504383 meters looking forward 0.000000 meters along route # Maximum depth: 1689.504383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.316368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772837; longitude = -122.679431; captureRadius = 10; duration = 203; initialDepth = 1642.651135; finalDepth = 1595.316368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.1880145269829 # Actual altitude: 94.1880145269829 # Commanded vehicle depth: 1595.31636847302 # Seafloor depth: -1689.504383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.509326 meters # Minimum depth: 1750.420099 meters looking forward 0.000000 meters along route # Maximum depth: 1750.420099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.651135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773468; longitude = -122.678617; captureRadius = 10; duration = 203; initialDepth = 1689.985710; finalDepth = 1642.651135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.768963706409 # Actual altitude: 100 # Commanded vehicle depth: 1642.65113529359 # Seafloor depth: -1750.420099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.508916 meters # Minimum depth: 1799.873565 meters looking forward 0.000000 meters along route # Maximum depth: 1799.873565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1689.985710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774099; longitude = -122.677804; captureRadius = 10; duration = 203; initialDepth = 1736.837985; finalDepth = 1689.985710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.88785453828 # Actual altitude: 100 # Commanded vehicle depth: 1689.98571046172 # Seafloor depth: -1799.873565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.508506 meters # Minimum depth: 1811.837985 meters looking forward 0.000000 meters along route # Maximum depth: 1811.837985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1736.837985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774730; longitude = -122.676990; captureRadius = 10; duration = 203; initialDepth = 1740.771701; finalDepth = 1736.837985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.88785453828 # Actual altitude: 100 # Commanded vehicle depth: 1736.837985 # Seafloor depth: -1811.837985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.508096 meters # Minimum depth: 1815.771701 meters looking forward 0.000000 meters along route # Maximum depth: 1815.771701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1740.771701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775361; longitude = -122.676176; captureRadius = 10; duration = 203; initialDepth = 1763.119314; finalDepth = 1740.771701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1740.771701 # Seafloor depth: -1815.771701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.507685 meters # Minimum depth: 1838.119314 meters looking forward 0.000000 meters along route # Maximum depth: 1838.119314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1763.119314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775991; longitude = -122.675363; captureRadius = 10; duration = 203; initialDepth = 1800.424303; finalDepth = 1763.119314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1763.119314 # Seafloor depth: -1838.119314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.507275 meters # Minimum depth: 1875.424303 meters looking forward 0.000000 meters along route # Maximum depth: 1875.424303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1800.424303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776622; longitude = -122.674549; captureRadius = 10; duration = 203; initialDepth = 1805.263794; finalDepth = 1800.424303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1800.424303 # Seafloor depth: -1875.424303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.506864 meters # Minimum depth: 1880.263794 meters looking forward 0.000000 meters along route # Maximum depth: 1880.263794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1805.263794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777253; longitude = -122.673736; captureRadius = 10; duration = 203; initialDepth = 1813.271223; finalDepth = 1805.263794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1805.263794 # Seafloor depth: -1880.263794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.269651 meters # Minimum depth: 1888.271223 meters looking forward 0.000000 meters along route # Maximum depth: 1888.271223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1813.271223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777884; longitude = -122.672922; captureRadius = 10; duration = 204; initialDepth = 1827.910868; finalDepth = 1813.271223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1813.271223 # Seafloor depth: -1888.271223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.742847 meters # Minimum depth: 1902.910868 meters looking forward 0.000000 meters along route # Maximum depth: 1902.910868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1827.910868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778520; longitude = -122.672103; captureRadius = 10; duration = 201; initialDepth = 1833.454181; finalDepth = 1827.910868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1827.910868 # Seafloor depth: -1902.910868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.505634 meters # Minimum depth: 1908.454181 meters looking forward 0.000000 meters along route # Maximum depth: 1908.454181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1833.454181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779146; longitude = -122.671295; captureRadius = 10; duration = 203; initialDepth = 1837.282172; finalDepth = 1833.454181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1833.454181 # Seafloor depth: -1908.454181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.505223 meters # Minimum depth: 1912.282172 meters looking forward 0.000000 meters along route # Maximum depth: 1912.282172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1837.282172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779777; longitude = -122.670482; captureRadius = 10; duration = 203; initialDepth = 1838.772988; finalDepth = 1837.282172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1837.282172 # Seafloor depth: -1912.282172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.504813 meters # Minimum depth: 1913.772988 meters looking forward 0.000000 meters along route # Maximum depth: 1913.772988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1838.772988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780408; longitude = -122.669668; captureRadius = 10; duration = 203; initialDepth = 1821.246808; finalDepth = 1838.772988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1838.772988 # Seafloor depth: -1913.772988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.504403 meters # Minimum depth: 1896.246808 meters looking forward 0.000000 meters along route # Maximum depth: 1896.246808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1821.246808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781039; longitude = -122.668854; captureRadius = 10; duration = 203; initialDepth = 1775.010236; finalDepth = 1821.246808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1821.246808 # Seafloor depth: -1896.246808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.503992 meters # Minimum depth: 1850.010236 meters looking forward 0.000000 meters along route # Maximum depth: 1850.010236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1775.010236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781670; longitude = -122.668041; captureRadius = 10; duration = 203; initialDepth = 1737.672759; finalDepth = 1775.010236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1775.010236 # Seafloor depth: -1850.010236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.503583 meters # Minimum depth: 1812.672759 meters looking forward 0.000000 meters along route # Maximum depth: 1812.672759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1737.672759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782301; longitude = -122.667227; captureRadius = 10; duration = 203; initialDepth = 1725.281607; finalDepth = 1737.672759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1737.672759 # Seafloor depth: -1812.672759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.503172 meters # Minimum depth: 1800.281607 meters looking forward 0.000000 meters along route # Maximum depth: 1800.281607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1725.281607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782932; longitude = -122.666414; captureRadius = 10; duration = 203; initialDepth = 1714.033476; finalDepth = 1725.281607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1725.281607 # Seafloor depth: -1800.281607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.502761 meters # Minimum depth: 1789.033476 meters looking forward 0.000000 meters along route # Maximum depth: 1789.033476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1714.033476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783563; longitude = -122.665600; captureRadius = 10; duration = 203; initialDepth = 1701.996271; finalDepth = 1714.033476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1714.033476 # Seafloor depth: -1789.033476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.502352 meters # Minimum depth: 1776.996271 meters looking forward 0.000000 meters along route # Maximum depth: 1776.996271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.996271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784194; longitude = -122.664787; captureRadius = 10; duration = 203; initialDepth = 1676.612258; finalDepth = 1701.996271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1701.996271 # Seafloor depth: -1776.996271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.290294 meters # Minimum depth: 1751.612258 meters looking forward 0.000000 meters along route # Maximum depth: 1751.612258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1676.612258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784825; longitude = -122.663973; captureRadius = 10; duration = 204; initialDepth = 1663.162072; finalDepth = 1676.612258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1676.612258 # Seafloor depth: -1751.612258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.713178 meters # Minimum depth: 1738.162072 meters looking forward 0.000000 meters along route # Maximum depth: 1738.162072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1663.162072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785460; longitude = -122.663153; captureRadius = 10; duration = 201; initialDepth = 1654.292846; finalDepth = 1663.162072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1663.162072 # Seafloor depth: -1738.162072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.501121 meters # Minimum depth: 1729.292846 meters looking forward 0.000000 meters along route # Maximum depth: 1729.292846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1654.292846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786087; longitude = -122.662346; captureRadius = 10; duration = 203; initialDepth = 1638.610718; finalDepth = 1654.292846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1654.292846 # Seafloor depth: -1729.292846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.500711 meters # Minimum depth: 1713.610718 meters looking forward 0.000000 meters along route # Maximum depth: 1713.610718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1638.610718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786717; longitude = -122.661532; captureRadius = 10; duration = 203; initialDepth = 1608.923784; finalDepth = 1638.610718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1638.610718 # Seafloor depth: -1713.610718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.500300 meters # Minimum depth: 1683.923784 meters looking forward 0.000000 meters along route # Maximum depth: 1683.923784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1608.923784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787348; longitude = -122.660719; captureRadius = 10; duration = 203; initialDepth = 1601.556526; finalDepth = 1608.923784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1608.923784 # Seafloor depth: -1683.923784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.499890 meters # Minimum depth: 1676.556526 meters looking forward 0.000000 meters along route # Maximum depth: 1676.556526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1601.556526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787979; longitude = -122.659905; captureRadius = 10; duration = 202; initialDepth = 1618.542045; finalDepth = 1601.556526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1601.556526 # Seafloor depth: -1676.556526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.499480 meters # Minimum depth: 1693.542045 meters looking forward 0.000000 meters along route # Maximum depth: 1693.542045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.542045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788610; longitude = -122.659092; captureRadius = 10; duration = 202; initialDepth = 1618.968142; finalDepth = 1618.542045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.542045 # Seafloor depth: -1693.542045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.499070 meters # Minimum depth: 1693.968142 meters looking forward 0.000000 meters along route # Maximum depth: 1693.968142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.968142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789241; longitude = -122.658278; captureRadius = 10; duration = 202; initialDepth = 1635.857403; finalDepth = 1618.968142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.968142 # Seafloor depth: -1693.968142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.498660 meters # Minimum depth: 1710.857403 meters looking forward 0.000000 meters along route # Maximum depth: 1710.857403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.857403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789872; longitude = -122.657465; captureRadius = 10; duration = 202; initialDepth = 1650.488113; finalDepth = 1635.857403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.857403 # Seafloor depth: -1710.857403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.498250 meters # Minimum depth: 1725.488113 meters looking forward 0.000000 meters along route # Maximum depth: 1725.488113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1650.488113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790503; longitude = -122.656651; captureRadius = 10; duration = 202; initialDepth = 1687.566767; finalDepth = 1650.488113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1650.488113 # Seafloor depth: -1725.488113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.497839 meters # Minimum depth: 1762.566767 meters looking forward 0.000000 meters along route # Maximum depth: 1762.566767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.566767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791134; longitude = -122.655838; captureRadius = 10; duration = 202; initialDepth = 1715.986203; finalDepth = 1687.566767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.566767 # Seafloor depth: -1762.566767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.310937 meters # Minimum depth: 1790.986203 meters looking forward 0.000000 meters along route # Maximum depth: 1790.986203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1715.986203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791765; longitude = -122.655024; captureRadius = 10; duration = 204; initialDepth = 1738.523138; finalDepth = 1715.986203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1715.986203 # Seafloor depth: -1790.986203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.683512 meters # Minimum depth: 1813.523138 meters looking forward 0.000000 meters along route # Maximum depth: 1813.523138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1738.523138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792401; longitude = -122.654204; captureRadius = 10; duration = 201; initialDepth = 1773.357513; finalDepth = 1738.523138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1738.523138 # Seafloor depth: -1813.523138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.496609 meters # Minimum depth: 1848.357513 meters looking forward 0.000000 meters along route # Maximum depth: 1848.357513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1773.357513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793027; longitude = -122.653397; captureRadius = 10; duration = 202; initialDepth = 1813.660787; finalDepth = 1773.357513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1773.357513 # Seafloor depth: -1848.357513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.496199 meters # Minimum depth: 1888.660787 meters looking forward 0.000000 meters along route # Maximum depth: 1888.660787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1813.660787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793658; longitude = -122.652583; captureRadius = 10; duration = 202; initialDepth = 1860.989241; finalDepth = 1813.660787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1813.660787 # Seafloor depth: -1888.660787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.495789 meters # Minimum depth: 1959.781570 meters looking forward 0.000000 meters along route # Maximum depth: 1959.781570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1860.989241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794289; longitude = -122.651770; captureRadius = 10; duration = 202; initialDepth = 1908.317504; finalDepth = 1860.989241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.7923290523795 # Actual altitude: 98.7923290523795 # Commanded vehicle depth: 1860.98924094762 # Seafloor depth: -1959.781570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.495379 meters # Minimum depth: 1985.880033 meters looking forward 0.000000 meters along route # Maximum depth: 1985.880033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1908.317504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794920; longitude = -122.650956; captureRadius = 10; duration = 202; initialDepth = 1924.718287; finalDepth = 1908.317504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.7923290523795 # Actual altitude: 98.7923290523795 # Commanded vehicle depth: 1908.3175037091 # Seafloor depth: -1985.880033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.494968 meters # Minimum depth: 1999.718287 meters looking forward 0.000000 meters along route # Maximum depth: 1999.718287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1924.718287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795551; longitude = -122.650143; captureRadius = 10; duration = 202; initialDepth = 1932.016677; finalDepth = 1924.718287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5625292908951 # Actual altitude: 77.5625292908951 # Commanded vehicle depth: 1924.718287 # Seafloor depth: -1999.718287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.494559 meters # Minimum depth: 2007.016677 meters looking forward 0.000000 meters along route # Maximum depth: 2007.016677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1932.016677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796182; longitude = -122.649329; captureRadius = 10; duration = 202; initialDepth = 1967.188715; finalDepth = 1932.016677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1932.016677 # Seafloor depth: -2007.016677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.494149 meters # Minimum depth: 2042.188715 meters looking forward 0.000000 meters along route # Maximum depth: 2042.188715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1967.188715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796813; longitude = -122.648516; captureRadius = 10; duration = 202; initialDepth = 2014.516213; finalDepth = 1967.188715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1967.188715 # Seafloor depth: -2042.188715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.493738 meters # Minimum depth: 2107.099148 meters looking forward 0.000000 meters along route # Maximum depth: 2107.099148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2014.516213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797443; longitude = -122.647702; captureRadius = 10; duration = 202; initialDepth = 2061.843519; finalDepth = 2014.516213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.5829349830603 # Actual altitude: 92.5829349830603 # Commanded vehicle depth: 2014.51621301694 # Seafloor depth: -2107.099148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.77; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.493329 meters # Minimum depth: 2158.858026 meters looking forward 0.000000 meters along route # Maximum depth: 2158.858026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2061.843519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798074; longitude = -122.646888; captureRadius = 10; duration = 202; initialDepth = 2109.170635; finalDepth = 2061.843519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.0145066185651 # Actual altitude: 97.0145066185651 # Commanded vehicle depth: 2061.84351938143 # Seafloor depth: -2158.858026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.331577 meters # Minimum depth: 2210.914913 meters looking forward 0.000000 meters along route # Maximum depth: 2210.914913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2109.170635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798705; longitude = -122.646075; captureRadius = 10; duration = 204; initialDepth = 2156.888632; finalDepth = 2109.170635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.744277973898 # Actual altitude: 100 # Commanded vehicle depth: 2109.1706350261 # Seafloor depth: -2210.914913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.653850 meters # Minimum depth: 2259.973923 meters looking forward 0.000000 meters along route # Maximum depth: 2259.973923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2156.888632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799341; longitude = -122.645255; captureRadius = 10; duration = 201; initialDepth = 2183.136498; finalDepth = 2156.888632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.085290874993 # Actual altitude: 100 # Commanded vehicle depth: 2156.88863212501 # Seafloor depth: -2259.973923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.492098 meters # Minimum depth: 2258.136498 meters looking forward 0.000000 meters along route # Maximum depth: 2258.136498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2183.136498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799967; longitude = -122.644448; captureRadius = 10; duration = 202; initialDepth = 2134.477114; finalDepth = 2183.136498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.085290874993 # Actual altitude: 100 # Commanded vehicle depth: 2183.136498 # Seafloor depth: -2258.136498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.491689 meters # Minimum depth: 2209.477114 meters looking forward 0.000000 meters along route # Maximum depth: 2209.477114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2134.477114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800598; longitude = -122.643634; captureRadius = 10; duration = 202; initialDepth = 2078.406886; finalDepth = 2134.477114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2134.477114 # Seafloor depth: -2209.477114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.491278 meters # Minimum depth: 2153.406886 meters looking forward 0.000000 meters along route # Maximum depth: 2153.406886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2078.406886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801229; longitude = -122.642821; captureRadius = 10; duration = 202; initialDepth = 2019.348705; finalDepth = 2078.406886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2078.406886 # Seafloor depth: -2153.406886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.490868 meters # Minimum depth: 2094.348705 meters looking forward 0.000000 meters along route # Maximum depth: 2094.348705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2019.348705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801860; longitude = -122.642007; captureRadius = 10; duration = 202; initialDepth = 1995.689503; finalDepth = 2019.348705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2019.348705 # Seafloor depth: -2094.348705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.490459 meters # Minimum depth: 2070.689503 meters looking forward 0.000000 meters along route # Maximum depth: 2070.689503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1995.689503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802491; longitude = -122.641194; captureRadius = 10; duration = 202; initialDepth = 2037.253154; finalDepth = 1995.689503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1995.689503 # Seafloor depth: -2070.689503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.490048 meters # Minimum depth: 2112.253154 meters looking forward 0.000000 meters along route # Maximum depth: 2112.253154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2037.253154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803122; longitude = -122.640380; captureRadius = 10; duration = 202; initialDepth = 2084.578740; finalDepth = 2037.253154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2037.253154 # Seafloor depth: -2112.253154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.599573 meters # Minimum depth: 2172.251640 meters looking forward 0.000000 meters along route # Maximum depth: 2172.251640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2084.578740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803753; longitude = -122.639567; captureRadius = 10; duration = 207; initialDepth = 2132.888013; finalDepth = 2084.578740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6729003107298 # Actual altitude: 87.6729003107298 # Commanded vehicle depth: 2084.57873968927 # Seafloor depth: -2172.251640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.262361 meters # Minimum depth: 2235.008298 meters looking forward 0.000000 meters along route # Maximum depth: 2235.008298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2132.888013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804397; longitude = -122.638736; captureRadius = 10; duration = 220; initialDepth = 2184.304195; finalDepth = 2132.888013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.120284978006 # Actual altitude: 100 # Commanded vehicle depth: 2132.88801302199 # Seafloor depth: -2235.008298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.313660 meters # Minimum depth: 2284.206169 meters looking forward 0.000000 meters along route # Maximum depth: 2284.206169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2184.304195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805082; longitude = -122.637852; captureRadius = 10; duration = 200; initialDepth = 2231.081222; finalDepth = 2184.304195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 102.120284978006 # Actual altitude: 100 # Commanded vehicle depth: 2184.30419536341 # Seafloor depth: -2284.206169 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 97.381107 meters # Minimum depth: 2306.294739 meters looking forward 0.000000 meters along route # Maximum depth: 2306.294739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2231.081222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805706; longitude = -122.637048; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 2276.490777; finalDepth = 2231.081222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.9019736365917 # Actual altitude: 99.9019736365917 # Commanded vehicle depth: 2231.08122232998 # Seafloor depth: -2306.294739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.618893 meters # Minimum depth: 2360.620726 meters looking forward 0.000000 meters along route # Maximum depth: 2360.620726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2276.490777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805070; longitude = -122.636305; captureRadius = 10; duration = 205; initialDepth = 2306.122742; finalDepth = 2276.490777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 84.1299485987274 # Actual altitude: 84.1299485987274 # Commanded vehicle depth: 2276.49077740127 # Seafloor depth: -2360.620726 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 118.602353 meters # Minimum depth: 2381.122742 meters looking forward 0.000000 meters along route # Maximum depth: 2381.122742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2306.122742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804399; longitude = -122.635523; captureRadius = 10; duration = 237; # abortOnTimeout = True; initialDepth = 2254.852825; finalDepth = 2306.122742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1299485987274 # Actual altitude: 84.1299485987274 # Commanded vehicle depth: 2306.122742 # Seafloor depth: -2381.122742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.837263 meters # Minimum depth: 2329.852825 meters looking forward 0.000000 meters along route # Maximum depth: 2329.852825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2254.852825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803663; longitude = -122.636475; captureRadius = 10; duration = 205; initialDepth = 2201.355072; finalDepth = 2254.852825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2254.852825 # Seafloor depth: -2329.852825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.381398 meters # Minimum depth: 2276.355072 meters looking forward 0.000000 meters along route # Maximum depth: 2276.355072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2201.355072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803024; longitude = -122.637300; captureRadius = 10; duration = 200; initialDepth = 2140.679552; finalDepth = 2201.355072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2201.355072 # Seafloor depth: -2276.355072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.609947 meters # Minimum depth: 2215.679552 meters looking forward 0.000000 meters along route # Maximum depth: 2215.679552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2140.679552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802401; longitude = -122.638105; captureRadius = 10; duration = 203; initialDepth = 2106.546797; finalDepth = 2140.679552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2140.679552 # Seafloor depth: -2215.679552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.610358 meters # Minimum depth: 2181.546797 meters looking forward 0.000000 meters along route # Maximum depth: 2181.546797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2106.546797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801770; longitude = -122.638921; captureRadius = 10; duration = 203; initialDepth = 2088.356447; finalDepth = 2106.546797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2106.546797 # Seafloor depth: -2181.546797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.610770 meters # Minimum depth: 2163.356447 meters looking forward 0.000000 meters along route # Maximum depth: 2163.356447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2088.356447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801139; longitude = -122.639736; captureRadius = 10; duration = 203; initialDepth = 2095.157958; finalDepth = 2088.356447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2088.356447 # Seafloor depth: -2163.356447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.611182 meters # Minimum depth: 2170.157958 meters looking forward 0.000000 meters along route # Maximum depth: 2170.157958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2095.157958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800508; longitude = -122.640551; captureRadius = 10; duration = 203; initialDepth = 2102.024990; finalDepth = 2095.157958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2095.157958 # Seafloor depth: -2170.157958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.611592 meters # Minimum depth: 2177.024990 meters looking forward 0.000000 meters along route # Maximum depth: 2177.024990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2102.024990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799877; longitude = -122.641367; captureRadius = 10; duration = 203; initialDepth = 2148.036704; finalDepth = 2102.024990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2102.02499 # Seafloor depth: -2177.024990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.612004 meters # Minimum depth: 2223.036704 meters looking forward 0.000000 meters along route # Maximum depth: 2223.036704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2148.036704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799246; longitude = -122.642182; captureRadius = 10; duration = 203; initialDepth = 2186.709839; finalDepth = 2148.036704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2148.036704 # Seafloor depth: -2223.036704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.298682 meters # Minimum depth: 2261.709839 meters looking forward 0.000000 meters along route # Maximum depth: 2261.709839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2186.709839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798615; longitude = -122.642997; captureRadius = 10; duration = 204; initialDepth = 2206.348786; finalDepth = 2186.709839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2186.709839 # Seafloor depth: -2261.709839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.926560 meters # Minimum depth: 2281.348786 meters looking forward 0.000000 meters along route # Maximum depth: 2281.348786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2206.348786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797980; longitude = -122.643818; captureRadius = 10; duration = 201; initialDepth = 2187.024921; finalDepth = 2206.348786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2206.348786 # Seafloor depth: -2281.348786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.613238 meters # Minimum depth: 2262.024921 meters looking forward 0.000000 meters along route # Maximum depth: 2262.024921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2187.024921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797353; longitude = -122.644628; captureRadius = 10; duration = 203; initialDepth = 2123.740403; finalDepth = 2187.024921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2187.024921 # Seafloor depth: -2262.024921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.613649 meters # Minimum depth: 2198.740403 meters looking forward 0.000000 meters along route # Maximum depth: 2198.740403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2123.740403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796722; longitude = -122.645444; captureRadius = 10; duration = 203; initialDepth = 2074.452364; finalDepth = 2123.740403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2123.740403 # Seafloor depth: -2198.740403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.614061 meters # Minimum depth: 2149.452364 meters looking forward 0.000000 meters along route # Maximum depth: 2149.452364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2074.452364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796091; longitude = -122.646259; captureRadius = 10; duration = 203; initialDepth = 2021.332302; finalDepth = 2074.452364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2074.452364 # Seafloor depth: -2149.452364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.614472 meters # Minimum depth: 2096.332302 meters looking forward 0.000000 meters along route # Maximum depth: 2096.332302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2021.332302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795461; longitude = -122.647074; captureRadius = 10; duration = 203; initialDepth = 1976.187617; finalDepth = 2021.332302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2021.332302 # Seafloor depth: -2096.332302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.614884 meters # Minimum depth: 2051.187617 meters looking forward 0.000000 meters along route # Maximum depth: 2051.187617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1976.187617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794830; longitude = -122.647890; captureRadius = 10; duration = 203; initialDepth = 1958.559834; finalDepth = 1976.187617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1976.187617 # Seafloor depth: -2051.187617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.615295 meters # Minimum depth: 2033.559834 meters looking forward 0.000000 meters along route # Maximum depth: 2033.559834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1958.559834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794199; longitude = -122.648705; captureRadius = 10; duration = 203; initialDepth = 1975.028367; finalDepth = 1958.559834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1958.559834 # Seafloor depth: -2033.559834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.760067 meters # Minimum depth: 2050.028367 meters looking forward 0.000000 meters along route # Maximum depth: 2050.028367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1975.028367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793568; longitude = -122.649520; captureRadius = 10; duration = 203; initialDepth = 1954.231714; finalDepth = 1975.028367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1975.028367 # Seafloor depth: -2050.028367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.471757 meters # Minimum depth: 2029.231714 meters looking forward 0.000000 meters along route # Maximum depth: 2029.231714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1954.231714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792936; longitude = -122.650337; captureRadius = 10; duration = 202; initialDepth = 1914.048040; finalDepth = 1954.231714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1954.231714 # Seafloor depth: -2029.231714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.616529 meters # Minimum depth: 1989.048040 meters looking forward 0.000000 meters along route # Maximum depth: 1989.048040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1914.048040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792306; longitude = -122.651151; captureRadius = 10; duration = 203; initialDepth = 1872.957720; finalDepth = 1914.048040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1914.04804 # Seafloor depth: -1989.048040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.616941 meters # Minimum depth: 1947.957720 meters looking forward 0.000000 meters along route # Maximum depth: 1947.957720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1872.957720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791675; longitude = -122.651967; captureRadius = 10; duration = 203; initialDepth = 1865.547789; finalDepth = 1872.957720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1872.95772 # Seafloor depth: -1947.957720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.617352 meters # Minimum depth: 1940.547789 meters looking forward 0.000000 meters along route # Maximum depth: 1940.547789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1865.547789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791044; longitude = -122.652782; captureRadius = 10; duration = 203; initialDepth = 1842.050554; finalDepth = 1865.547789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1865.547789 # Seafloor depth: -1940.547789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.144606 meters # Minimum depth: 1917.050554 meters looking forward 0.000000 meters along route # Maximum depth: 1917.050554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1842.050554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790413; longitude = -122.653597; captureRadius = 10; duration = 206; initialDepth = 1798.556831; finalDepth = 1842.050554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1842.050554 # Seafloor depth: -1917.050554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.091333 meters # Minimum depth: 1873.556831 meters looking forward 0.000000 meters along route # Maximum depth: 1873.556831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1798.556831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789773; longitude = -122.654425; captureRadius = 10; duration = 200; initialDepth = 1787.571362; finalDepth = 1798.556831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1798.556831 # Seafloor depth: -1873.556831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.618587 meters # Minimum depth: 1862.571362 meters looking forward 0.000000 meters along route # Maximum depth: 1862.571362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1787.571362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789151; longitude = -122.655228; captureRadius = 10; duration = 203; initialDepth = 1764.389332; finalDepth = 1787.571362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1787.571362 # Seafloor depth: -1862.571362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.618998 meters # Minimum depth: 1839.389332 meters looking forward 0.000000 meters along route # Maximum depth: 1839.389332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1764.389332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788520; longitude = -122.656043; captureRadius = 10; duration = 203; initialDepth = 1733.142496; finalDepth = 1764.389332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1764.389332 # Seafloor depth: -1839.389332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.619410 meters # Minimum depth: 1808.142496 meters looking forward 0.000000 meters along route # Maximum depth: 1808.142496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1733.142496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787889; longitude = -122.656859; captureRadius = 10; duration = 203; initialDepth = 1704.621587; finalDepth = 1733.142496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1733.142496 # Seafloor depth: -1808.142496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.619821 meters # Minimum depth: 1779.621587 meters looking forward 0.000000 meters along route # Maximum depth: 1779.621587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.621587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787258; longitude = -122.657674; captureRadius = 10; duration = 203; initialDepth = 1669.212467; finalDepth = 1704.621587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.621587 # Seafloor depth: -1779.621587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.620233 meters # Minimum depth: 1744.212467 meters looking forward 0.000000 meters along route # Maximum depth: 1744.212467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1669.212467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786627; longitude = -122.658490; captureRadius = 10; duration = 203; initialDepth = 1644.093140; finalDepth = 1669.212467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1669.212467 # Seafloor depth: -1744.212467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.620644 meters # Minimum depth: 1719.093140 meters looking forward 0.000000 meters along route # Maximum depth: 1719.093140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1644.093140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785996; longitude = -122.659305; captureRadius = 10; duration = 203; initialDepth = 1640.944120; finalDepth = 1644.093140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1644.09314 # Seafloor depth: -1719.093140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.605990 meters # Minimum depth: 1715.944120 meters looking forward 0.000000 meters along route # Maximum depth: 1715.944120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1640.944120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785365; longitude = -122.660120; captureRadius = 10; duration = 205; initialDepth = 1634.514619; finalDepth = 1640.944120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1640.94412 # Seafloor depth: -1715.944120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.636533 meters # Minimum depth: 1709.514619 meters looking forward 0.000000 meters along route # Maximum depth: 1709.514619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.514619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784728; longitude = -122.660944; captureRadius = 10; duration = 201; initialDepth = 1604.325111; finalDepth = 1634.514619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.514619 # Seafloor depth: -1709.514619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.621879 meters # Minimum depth: 1679.325111 meters looking forward 0.000000 meters along route # Maximum depth: 1679.325111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1604.325111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784104; longitude = -122.661751; captureRadius = 10; duration = 203; initialDepth = 1612.980792; finalDepth = 1604.325111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1604.325111 # Seafloor depth: -1679.325111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.622290 meters # Minimum depth: 1687.980792 meters looking forward 0.000000 meters along route # Maximum depth: 1687.980792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1612.980792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783473; longitude = -122.662566; captureRadius = 10; duration = 203; initialDepth = 1634.315246; finalDepth = 1612.980792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1612.980792 # Seafloor depth: -1687.980792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.622702 meters # Minimum depth: 1709.315246 meters looking forward 0.000000 meters along route # Maximum depth: 1709.315246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.315246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782842; longitude = -122.663382; captureRadius = 10; duration = 203; initialDepth = 1670.606583; finalDepth = 1634.315246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.315246 # Seafloor depth: -1709.315246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.623114 meters # Minimum depth: 1745.606583 meters looking forward 0.000000 meters along route # Maximum depth: 1745.606583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1670.606583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782211; longitude = -122.664197; captureRadius = 10; duration = 203; initialDepth = 1705.424653; finalDepth = 1670.606583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1670.606583 # Seafloor depth: -1745.606583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.623525 meters # Minimum depth: 1780.424653 meters looking forward 0.000000 meters along route # Maximum depth: 1780.424653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.424653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781580; longitude = -122.665012; captureRadius = 10; duration = 203; initialDepth = 1717.542982; finalDepth = 1705.424653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.424653 # Seafloor depth: -1780.424653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.623937 meters # Minimum depth: 1792.542982 meters looking forward 0.000000 meters along route # Maximum depth: 1792.542982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1717.542982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780949; longitude = -122.665828; captureRadius = 10; duration = 203; initialDepth = 1723.231320; finalDepth = 1717.542982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1717.542982 # Seafloor depth: -1792.542982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.067339 meters # Minimum depth: 1798.231320 meters looking forward 0.000000 meters along route # Maximum depth: 1798.231320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1723.231320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780318; longitude = -122.666643; captureRadius = 10; duration = 204; initialDepth = 1761.489172; finalDepth = 1723.231320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1723.23132 # Seafloor depth: -1798.231320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.181769 meters # Minimum depth: 1836.489172 meters looking forward 0.000000 meters along route # Maximum depth: 1836.489172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1761.489172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779684; longitude = -122.667462; captureRadius = 10; duration = 202; initialDepth = 1768.988515; finalDepth = 1761.489172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1761.489172 # Seafloor depth: -1836.489172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.625172 meters # Minimum depth: 1843.988515 meters looking forward 0.000000 meters along route # Maximum depth: 1843.988515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1768.988515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779056; longitude = -122.668274; captureRadius = 10; duration = 203; initialDepth = 1755.967275; finalDepth = 1768.988515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1768.988515 # Seafloor depth: -1843.988515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.625583 meters # Minimum depth: 1830.967275 meters looking forward 0.000000 meters along route # Maximum depth: 1830.967275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1755.967275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778425; longitude = -122.669089; captureRadius = 10; duration = 203; initialDepth = 1752.526584; finalDepth = 1755.967275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1755.967275 # Seafloor depth: -1830.967275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.625995 meters # Minimum depth: 1827.526584 meters looking forward 0.000000 meters along route # Maximum depth: 1827.526584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1752.526584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777794; longitude = -122.669905; captureRadius = 10; duration = 203; initialDepth = 1743.888178; finalDepth = 1752.526584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1752.526584 # Seafloor depth: -1827.526584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.626407 meters # Minimum depth: 1818.888178 meters looking forward 0.000000 meters along route # Maximum depth: 1818.888178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1743.888178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777163; longitude = -122.670720; captureRadius = 10; duration = 203; initialDepth = 1746.101103; finalDepth = 1743.888178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1743.888178 # Seafloor depth: -1818.888178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.626818 meters # Minimum depth: 1821.101103 meters looking forward 0.000000 meters along route # Maximum depth: 1821.101103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1746.101103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776532; longitude = -122.671535; captureRadius = 10; duration = 203; initialDepth = 1752.308519; finalDepth = 1746.101103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1746.101103 # Seafloor depth: -1821.101103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.627230 meters # Minimum depth: 1827.308519 meters looking forward 0.000000 meters along route # Maximum depth: 1827.308519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1752.308519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775901; longitude = -122.672351; captureRadius = 10; duration = 203; initialDepth = 1753.891667; finalDepth = 1752.308519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1752.308519 # Seafloor depth: -1827.308519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.627641 meters # Minimum depth: 1828.891667 meters looking forward 0.000000 meters along route # Maximum depth: 1828.891667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1753.891667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775270; longitude = -122.673166; captureRadius = 10; duration = 203; initialDepth = 1744.497457; finalDepth = 1753.891667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1753.891667 # Seafloor depth: -1828.891667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.628054 meters # Minimum depth: 1819.497457 meters looking forward 0.000000 meters along route # Maximum depth: 1819.497457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1744.497457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774639; longitude = -122.673982; captureRadius = 10; duration = 203; initialDepth = 1742.279252; finalDepth = 1744.497457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1744.497457 # Seafloor depth: -1819.497457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.628465 meters # Minimum depth: 1817.279252 meters looking forward 0.000000 meters along route # Maximum depth: 1817.279252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1742.279252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774009; longitude = -122.674797; captureRadius = 10; duration = 203; initialDepth = 1724.958109; finalDepth = 1742.279252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1742.279252 # Seafloor depth: -1817.279252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.628876 meters # Minimum depth: 1799.958109 meters looking forward 0.000000 meters along route # Maximum depth: 1799.958109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.958109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773378; longitude = -122.675612; captureRadius = 10; duration = 203; initialDepth = 1705.472905; finalDepth = 1724.958109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1724.958109 # Seafloor depth: -1799.958109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.629289 meters # Minimum depth: 1780.472905 meters looking forward 0.000000 meters along route # Maximum depth: 1780.472905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.472905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772747; longitude = -122.676428; captureRadius = 10; duration = 203; initialDepth = 1668.313666; finalDepth = 1705.472905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.472905 # Seafloor depth: -1780.472905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.913351 meters # Minimum depth: 1743.313666 meters looking forward 0.000000 meters along route # Maximum depth: 1743.313666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.313666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772116; longitude = -122.677243; captureRadius = 10; duration = 205; initialDepth = 1626.696134; finalDepth = 1668.313666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.313666 # Seafloor depth: -1743.313666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.346460 meters # Minimum depth: 1701.696134 meters looking forward 0.000000 meters along route # Maximum depth: 1701.696134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1626.696134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771477; longitude = -122.678069; captureRadius = 10; duration = 200; initialDepth = 1571.734602; finalDepth = 1626.696134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1626.696134 # Seafloor depth: -1701.696134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.630524 meters # Minimum depth: 1646.734602 meters looking forward 0.000000 meters along route # Maximum depth: 1646.734602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1571.734602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770854; longitude = -122.678874; captureRadius = 10; duration = 203; initialDepth = 1502.712920; finalDepth = 1571.734602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1571.734602 # Seafloor depth: -1646.734602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.630935 meters # Minimum depth: 1577.712920 meters looking forward 0.000000 meters along route # Maximum depth: 1577.712920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.712920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770223; longitude = -122.679689; captureRadius = 10; duration = 203; initialDepth = 1439.901133; finalDepth = 1502.712920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1502.71292 # Seafloor depth: -1577.712920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.631347 meters # Minimum depth: 1514.901133 meters looking forward 0.000000 meters along route # Maximum depth: 1514.901133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1439.901133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769592; longitude = -122.680505; captureRadius = 10; duration = 203; initialDepth = 1428.647973; finalDepth = 1439.901133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1439.901133 # Seafloor depth: -1514.901133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.631759 meters # Minimum depth: 1503.647973 meters looking forward 0.000000 meters along route # Maximum depth: 1503.647973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1428.647973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768961; longitude = -122.681320; captureRadius = 10; duration = 203; initialDepth = 1459.967903; finalDepth = 1428.647973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1428.647973 # Seafloor depth: -1503.647973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.632171 meters # Minimum depth: 1534.967903 meters looking forward 0.000000 meters along route # Maximum depth: 1534.967903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1459.967903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768330; longitude = -122.682135; captureRadius = 10; duration = 203; initialDepth = 1507.359762; finalDepth = 1459.967903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1459.967903 # Seafloor depth: -1534.967903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.632582 meters # Minimum depth: 1598.957512 meters looking forward 0.000000 meters along route # Maximum depth: 1598.957512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1507.359762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767699; longitude = -122.682951; captureRadius = 10; duration = 203; initialDepth = 1554.751812; finalDepth = 1507.359762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5977502687176 # Actual altitude: 91.5977502687176 # Commanded vehicle depth: 1507.35976173128 # Seafloor depth: -1598.957512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.374666 meters # Minimum depth: 1654.896772 meters looking forward 0.000000 meters along route # Maximum depth: 1654.896772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1554.751812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767068; longitude = -122.683766; captureRadius = 10; duration = 204; initialDepth = 1602.489902; finalDepth = 1554.751812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.144959884991 # Actual altitude: 100 # Commanded vehicle depth: 1554.75181211501 # Seafloor depth: -1654.896772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.891734 meters # Minimum depth: 1713.365827 meters looking forward 0.000000 meters along route # Maximum depth: 1713.365827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.489902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766433; longitude = -122.684587; captureRadius = 10; duration = 201; initialDepth = 1649.536489; finalDepth = 1602.489902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.875925055795 # Actual altitude: 100 # Commanded vehicle depth: 1602.4899019442 # Seafloor depth: -1713.365827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.633818 meters # Minimum depth: 1742.686224 meters looking forward 0.000000 meters along route # Maximum depth: 1742.686224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.536489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765806; longitude = -122.685397; captureRadius = 10; duration = 203; initialDepth = 1684.441350; finalDepth = 1649.536489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.875925055795 # Actual altitude: 100 # Commanded vehicle depth: 1649.53648923872 # Seafloor depth: -1742.686224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.634229 meters # Minimum depth: 1759.441350 meters looking forward 0.000000 meters along route # Maximum depth: 1759.441350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1684.441350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765175; longitude = -122.686212; captureRadius = 10; duration = 203; initialDepth = 1699.882570; finalDepth = 1684.441350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.1497347612844 # Actual altitude: 93.1497347612844 # Commanded vehicle depth: 1684.44135 # Seafloor depth: -1759.441350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.634642 meters # Minimum depth: 1774.882570 meters looking forward 0.000000 meters along route # Maximum depth: 1774.882570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1699.882570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764544; longitude = -122.687028; captureRadius = 10; duration = 203; initialDepth = 1705.349139; finalDepth = 1699.882570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1699.88257 # Seafloor depth: -1774.882570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.635053 meters # Minimum depth: 1780.349139 meters looking forward 0.000000 meters along route # Maximum depth: 1780.349139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.349139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763913; longitude = -122.687843; captureRadius = 10; duration = 203; initialDepth = 1689.825027; finalDepth = 1705.349139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.349139 # Seafloor depth: -1780.349139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.635465 meters # Minimum depth: 1764.825027 meters looking forward 0.000000 meters along route # Maximum depth: 1764.825027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1689.825027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763283; longitude = -122.688658; captureRadius = 10; duration = 203; initialDepth = 1645.187140; finalDepth = 1689.825027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1689.825027 # Seafloor depth: -1764.825027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.635877 meters # Minimum depth: 1720.187140 meters looking forward 0.000000 meters along route # Maximum depth: 1720.187140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1645.187140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762652; longitude = -122.689474; captureRadius = 10; duration = 203; initialDepth = 1601.358270; finalDepth = 1645.187140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1645.18714 # Seafloor depth: -1720.187140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.835946 meters # Minimum depth: 1676.358270 meters looking forward 0.000000 meters along route # Maximum depth: 1676.358270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1601.358270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762021; longitude = -122.690289; captureRadius = 10; duration = 203; initialDepth = 1533.886834; finalDepth = 1601.358270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1601.35827 # Seafloor depth: -1676.358270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.437043 meters # Minimum depth: 1608.886834 meters looking forward 0.000000 meters along route # Maximum depth: 1608.886834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1533.886834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761388; longitude = -122.691106; captureRadius = 10; duration = 202; initialDepth = 1466.656534; finalDepth = 1533.886834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1533.886834 # Seafloor depth: -1608.886834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.637112 meters # Minimum depth: 1541.656534 meters looking forward 0.000000 meters along route # Maximum depth: 1541.656534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1466.656534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760759; longitude = -122.691920; captureRadius = 10; duration = 203; initialDepth = 1453.375717; finalDepth = 1466.656534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1466.656534 # Seafloor depth: -1541.656534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.637525 meters # Minimum depth: 1528.375717 meters looking forward 0.000000 meters along route # Maximum depth: 1528.375717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1453.375717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760128; longitude = -122.692735; captureRadius = 10; duration = 203; initialDepth = 1465.472461; finalDepth = 1453.375717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1453.375717 # Seafloor depth: -1528.375717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.637936 meters # Minimum depth: 1540.472461 meters looking forward 0.000000 meters along route # Maximum depth: 1540.472461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1465.472461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759497; longitude = -122.693550; captureRadius = 10; duration = 203; initialDepth = 1467.923900; finalDepth = 1465.472461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1465.472461 # Seafloor depth: -1540.472461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.220768 meters # Minimum depth: 1542.923900 meters looking forward 0.000000 meters along route # Maximum depth: 1542.923900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1467.923900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758866; longitude = -122.694366; captureRadius = 10; duration = 206; initialDepth = 1483.177142; finalDepth = 1467.923900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1467.9239 # Seafloor depth: -1542.923900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.056340 meters # Minimum depth: 1558.177142 meters looking forward 0.000000 meters along route # Maximum depth: 1558.177142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1483.177142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758225; longitude = -122.695194; captureRadius = 10; duration = 200; initialDepth = 1507.487319; finalDepth = 1483.177142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1483.177142 # Seafloor depth: -1558.177142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.639172 meters # Minimum depth: 1582.487319 meters looking forward 0.000000 meters along route # Maximum depth: 1582.487319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1507.487319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757604; longitude = -122.695997; captureRadius = 10; duration = 203; initialDepth = 1531.345277; finalDepth = 1507.487319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1507.487319 # Seafloor depth: -1582.487319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.639584 meters # Minimum depth: 1606.345277 meters looking forward 0.000000 meters along route # Maximum depth: 1606.345277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1531.345277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756973; longitude = -122.696812; captureRadius = 10; duration = 203; initialDepth = 1536.058299; finalDepth = 1531.345277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1531.345277 # Seafloor depth: -1606.345277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.639996 meters # Minimum depth: 1611.058299 meters looking forward 0.000000 meters along route # Maximum depth: 1611.058299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1536.058299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756342; longitude = -122.697627; captureRadius = 10; duration = 203; initialDepth = 1529.987267; finalDepth = 1536.058299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1536.058299 # Seafloor depth: -1611.058299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.640408 meters # Minimum depth: 1604.987267 meters looking forward 0.000000 meters along route # Maximum depth: 1604.987267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1529.987267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755711; longitude = -122.698443; captureRadius = 10; duration = 203; initialDepth = 1523.587871; finalDepth = 1529.987267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1529.987267 # Seafloor depth: -1604.987267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.640819 meters # Minimum depth: 1598.587871 meters looking forward 0.000000 meters along route # Maximum depth: 1598.587871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1523.587871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755080; longitude = -122.699258; captureRadius = 10; duration = 203; initialDepth = 1491.289842; finalDepth = 1523.587871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1523.587871 # Seafloor depth: -1598.587871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.641232 meters # Minimum depth: 1566.289842 meters looking forward 0.000000 meters along route # Maximum depth: 1566.289842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1491.289842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754449; longitude = -122.700073; captureRadius = 10; duration = 203; initialDepth = 1443.457815; finalDepth = 1491.289842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1491.289842 # Seafloor depth: -1566.289842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.682048 meters # Minimum depth: 1518.457815 meters looking forward 0.000000 meters along route # Maximum depth: 1518.457815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.457815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753818; longitude = -122.700889; captureRadius = 10; duration = 205; initialDepth = 1404.899628; finalDepth = 1443.457815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1443.457815 # Seafloor depth: -1518.457815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.601651 meters # Minimum depth: 1479.899628 meters looking forward 0.000000 meters along route # Maximum depth: 1479.899628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.899628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753181; longitude = -122.701713; captureRadius = 10; duration = 201; initialDepth = 1444.963695; finalDepth = 1404.899628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1404.899628 # Seafloor depth: -1479.899628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.642468 meters # Minimum depth: 1519.963695 meters looking forward 0.000000 meters along route # Maximum depth: 1519.963695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1444.963695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752557; longitude = -122.702520; captureRadius = 10; duration = 203; initialDepth = 1479.154678; finalDepth = 1444.963695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1444.963695 # Seafloor depth: -1519.963695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.642879 meters # Minimum depth: 1554.154678 meters looking forward 0.000000 meters along route # Maximum depth: 1554.154678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1479.154678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751926; longitude = -122.703335; captureRadius = 10; duration = 203; initialDepth = 1526.551530; finalDepth = 1479.154678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1479.154678 # Seafloor depth: -1554.154678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.643292 meters # Minimum depth: 1603.846668 meters looking forward 0.000000 meters along route # Maximum depth: 1603.846668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1526.551530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751295; longitude = -122.704150; captureRadius = 10; duration = 203; initialDepth = 1537.626473; finalDepth = 1526.551530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2951380464108 # Actual altitude: 77.2951380464108 # Commanded vehicle depth: 1526.55152995359 # Seafloor depth: -1603.846668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.643704 meters # Minimum depth: 1612.626473 meters looking forward 0.000000 meters along route # Maximum depth: 1612.626473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1537.626473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750664; longitude = -122.704966; captureRadius = 10; duration = 203; initialDepth = 1572.497754; finalDepth = 1537.626473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2951380464108 # Actual altitude: 77.2951380464108 # Commanded vehicle depth: 1537.626473 # Seafloor depth: -1612.626473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.644115 meters # Minimum depth: 1647.497754 meters looking forward 0.000000 meters along route # Maximum depth: 1647.497754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.497754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750033; longitude = -122.705781; captureRadius = 10; duration = 203; initialDepth = 1613.266562; finalDepth = 1572.497754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.497754 # Seafloor depth: -1647.497754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.375571 meters # Minimum depth: 1688.266562 meters looking forward 0.000000 meters along route # Maximum depth: 1688.266562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1613.266562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749402; longitude = -122.706596; captureRadius = 10; duration = 214; initialDepth = 1638.003447; finalDepth = 1613.266562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1613.266562 # Seafloor depth: -1688.266562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.594388 meters # Minimum depth: 1713.003447 meters looking forward 0.000000 meters along route # Maximum depth: 1713.003447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1638.003447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748735; longitude = -122.707458; captureRadius = 10; duration = 211; initialDepth = 1667.789062; finalDepth = 1638.003447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1638.003447 # Seafloor depth: -1713.003447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 118.356263 meters # Minimum depth: 1742.789062 meters looking forward 0.000000 meters along route # Maximum depth: 1742.789062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1667.789062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748080; longitude = -122.708305; captureRadius = 10; duration = 236; # abortOnTimeout = True; initialDepth = 1695.405340; finalDepth = 1667.789062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1667.789062 # Seafloor depth: -1742.789062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.045448 meters # Minimum depth: 1770.405340 meters looking forward 0.000000 meters along route # Maximum depth: 1770.405340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1695.405340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747087; longitude = -122.708784; captureRadius = 10; duration = 200; initialDepth = 1713.326897; finalDepth = 1695.405340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1695.40534 # Seafloor depth: -1770.405340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.250167 meters # Minimum depth: 1788.326897 meters looking forward 0.000000 meters along route # Maximum depth: 1788.326897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2343.622742 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1713.326897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746247; longitude = -122.709188; captureRadius = 10; duration = 200; initialDepth = 1697.659831; finalDepth = 1713.326897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1713.326897 # Seafloor depth: -1788.326897 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Sonar parameter altitude: 75 # Commanded vehicle depth: 1697.659831 # Seafloor depth: -1772.659831 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.250167 meters # Minimum depth: 1772.659831 meters looking forward 0.000000 meters along route # Maximum depth: 1772.659831 meters looking forward 0.000000 meters along route # Vehicle depth: 1697.659831 meters behavior waypoint { latitude = 35.745406; longitude = -122.709594; captureRadius = 10; duration = 1300; depth = 1697.659831; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1697.659831 meters set by local depth and desired altitude behavior descend { duration = 5101; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1687.659831; minAltitude = 75.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.250167 meters # Minimum depth: 1772.659831 meters looking forward 0.000000 meters along route # Maximum depth: 1772.659831 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.745406; longitude = -122.709594; captureRadius = 10; duration = 1000; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 21.283358; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 75.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 21.283358; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################