# 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: PortugueseLedgeDeep_1v4.rte # Mission File: PortugueseLedgeDeep_1v4.cfg # Distance: 34388.304837 (m) # Estimated Time: 26115 (s) 7.254 (hr) # Abort Time: 33949 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1687 (s) # Way Points: 56 # Route Points: 321 # Survey behavior: WaypointDepth # Descent style: Waypoint 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 enabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 1456.159698 (m) # Abort Vehicle Depth: 1481.159698 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.956108 36.726197 -106.412254 0.000000 3 # 1 -121.962041 36.726828 -108.105764 534.461767 1 # 2 -121.969504 36.728662 -123.598293 1231.265679 1 # 3 -121.985662 36.730617 -471.503036 2690.372736 1 # 4 -122.000513 36.729745 -899.317154 4020.066464 1 # 5 -122.001558 36.729534 -972.709015 4116.274884 3 # 6 -122.001782 36.720423 -1005.227280 5127.237784 1 # 7 -122.004095 36.712876 -1049.130310 5989.602291 1 # 8 -122.008386 36.704637 -1003.400192 6980.735518 1 # 9 -122.016670 36.695888 -1062.879974 8201.272092 4 # 10 -122.018088 36.696729 -1169.023407 8358.601486 3 # 11 -122.009842 36.705449 -1108.597321 9574.516650 1 # 12 -122.005812 36.713207 -1140.189575 10507.423544 1 # 13 -122.003536 36.720544 -1098.418213 11346.380569 1 # 14 -122.003200 36.729203 -1070.043213 12307.469313 4 # 15 -122.004804 36.728903 -1143.020691 12454.521441 3 # 16 -122.005140 36.720604 -1194.845306 13375.692178 1 # 17 -122.007491 36.713658 -1258.076538 14174.368474 1 # 18 -122.011409 36.706171 -1228.860565 15075.680971 1 # 19 -122.019320 36.697722 -1252.824066 16249.555490 4 # 20 -122.020439 36.698624 -1376.822266 16390.999470 3 # 21 -122.013648 36.705810 -1408.181335 17392.770858 1 # 22 -122.010737 36.709960 -1363.145660 17921.518787 1 # 23 -122.009021 36.713959 -1339.060272 18390.892381 1 # 24 -122.006707 36.720694 -1296.110992 19166.120588 1 # 25 -122.006110 36.728572 -1213.939026 20041.721604 3 # 26 -122.008125 36.729384 -1205.598633 20242.949611 1 # 27 -122.027940 36.733623 -1096.186432 22073.785061 3 # 28 -122.024469 36.730376 -1141.479523 22548.993208 1 # 29 -122.020924 36.727820 -1169.260986 22973.986548 1 # 30 -122.019432 36.724603 -1188.796173 23354.936416 1 # 31 -122.016745 36.721356 -1409.658722 23787.764734 1 # 32 -122.018088 36.715492 -1355.075409 24449.273354 1 # 33 -122.020253 36.710952 -1344.573578 24988.779194 1 # 34 -122.022790 36.706111 -1410.185669 25571.683996 1 # 35 -122.024917 36.703405 -1442.262054 25926.956891 4 # 36 -122.023387 36.702473 -1481.159698 26098.334087 3 # 37 -122.021484 36.705359 -1458.802521 26460.831504 1 # 38 -122.018797 36.710501 -1393.903717 27079.711979 1 # 39 -122.016670 36.715101 -1402.176697 27624.244156 1 # 40 -122.015178 36.721265 -1419.464539 28320.931515 1 # 41 -122.017976 36.725054 -1278.052521 28809.941065 1 # 42 -122.019693 36.728632 -1246.951538 29235.464939 1 # 43 -122.022827 36.730617 -1250.661377 29591.577762 1 # 44 -122.025813 36.733263 -1169.099670 29988.142045 1 # 45 -122.027380 36.735247 -1096.725800 30248.954636 4 # 46 -122.029731 36.735157 -1047.351501 30459.117281 3 # 47 -122.029656 36.733503 -1041.864777 30642.731800 1 # 48 -122.025850 36.729805 -1068.513031 31175.470945 1 # 49 -122.022603 36.727189 -1096.778351 31585.714271 1 # 50 -122.021223 36.724332 -1155.059448 31925.781686 1 # 51 -122.018536 36.721356 -1303.416138 32333.929800 1 # 52 -122.019693 36.716094 -1297.396973 32926.763205 1 # 53 -122.021783 36.711343 -1306.257080 33485.912013 1 # 54 -122.024171 36.706622 -1372.099060 34051.421139 1 # 55 -122.026148 36.704036 -1406.503052 34388.304837 4 # # A total of 321 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 34388.304837 #define MISSION_TIME 26115 #define MISSION_TIMEOUT 18000 #define DEPTH_MAX 1456.159698 #define DEPTH_ABORT 1481.159698 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 20.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1687; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 104.214960 meters # Minimum depth: 1406.503052 meters looking forward 0.000000 meters along route # Maximum depth: 1406.503052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.503052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704036; longitude = -122.026148; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1351.380175; finalDepth = 1356.503052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1356.503052 # Seafloor depth:-1406.503052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.214960 meters # Minimum depth: 1401.380175 meters looking forward 0.000000 meters along route # Maximum depth: 1401.380175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.380175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705058; longitude = -122.025366; captureRadius = 10; duration = 208; initialDepth = 1353.388832; finalDepth = 1351.380175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1351.380175 # Seafloor depth:-1401.380175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.214960 meters # Minimum depth: 1403.388832 meters looking forward 0.000000 meters along route # Maximum depth: 1403.388832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.388832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705841; longitude = -122.024768; captureRadius = 10; duration = 208; initialDepth = 1322.099060; finalDepth = 1353.388832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1353.388832 # Seafloor depth:-1403.388832 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 104.214960 meters # Minimum depth: 1372.099060 meters looking forward 0.000000 meters along route # Maximum depth: 1372.099060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.099060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706622; longitude = -122.024171; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1321.465361; finalDepth = 1322.099060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1322.09906 # Seafloor depth:-1372.099060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.214960 meters # Minimum depth: 1371.465361 meters looking forward 0.000000 meters along route # Maximum depth: 1371.465361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.465361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707765; longitude = -122.023593; captureRadius = 10; duration = 208; initialDepth = 1323.855156; finalDepth = 1321.465361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1321.465361 # Seafloor depth:-1371.465361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.214960 meters # Minimum depth: 1373.855156 meters looking forward 0.000000 meters along route # Maximum depth: 1373.855156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.855156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708667; longitude = -122.023137; captureRadius = 10; duration = 208; initialDepth = 1298.433908; finalDepth = 1323.855156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1323.855156 # Seafloor depth:-1373.855156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.214960 meters # Minimum depth: 1348.433908 meters looking forward 0.000000 meters along route # Maximum depth: 1348.433908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.433908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709569; longitude = -122.022680; captureRadius = 10; duration = 208; initialDepth = 1298.476513; finalDepth = 1298.433908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1298.433908 # Seafloor depth:-1348.433908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.214960 meters # Minimum depth: 1348.476513 meters looking forward 0.000000 meters along route # Maximum depth: 1348.476513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.476513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710471; longitude = -122.022224; captureRadius = 10; duration = 208; initialDepth = 1256.257080; finalDepth = 1298.476513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1298.476513 # Seafloor depth:-1348.476513 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 104.214960 meters # Minimum depth: 1306.257080 meters looking forward 0.000000 meters along route # Maximum depth: 1306.257080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1256.257080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711343; longitude = -122.021783; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1252.050772; finalDepth = 1256.257080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1256.25708 # Seafloor depth:-1306.257080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 104.214960 meters # Minimum depth: 1302.050772 meters looking forward 0.000000 meters along route # Maximum depth: 1302.050772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.050772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712455; longitude = -122.021294; captureRadius = 10; duration = 208; initialDepth = 1249.330488; finalDepth = 1252.050772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1252.050772 # Seafloor depth:-1302.050772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 104.214960 meters # Minimum depth: 1299.330488 meters looking forward 0.000000 meters along route # Maximum depth: 1299.330488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.330488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713357; longitude = -122.020897; captureRadius = 10; duration = 208; initialDepth = 1228.386187; finalDepth = 1249.330488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1249.330488 # Seafloor depth:-1299.330488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 104.214960 meters # Minimum depth: 1278.386187 meters looking forward 0.000000 meters along route # Maximum depth: 1278.386187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.386187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714259; longitude = -122.020500; captureRadius = 10; duration = 208; initialDepth = 1240.303952; finalDepth = 1228.386187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1228.386187 # Seafloor depth:-1278.386187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 104.214960 meters # Minimum depth: 1290.303952 meters looking forward 0.000000 meters along route # Maximum depth: 1290.303952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1240.303952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715161; longitude = -122.020103; captureRadius = 10; duration = 208; initialDepth = 1247.396973; finalDepth = 1240.303952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1240.303952 # Seafloor depth:-1290.303952 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 104.214960 meters # Minimum depth: 1297.396973 meters looking forward 0.000000 meters along route # Maximum depth: 1297.396973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.396973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716094; longitude = -122.019693; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1233.157761; finalDepth = 1247.396973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1247.396973 # Seafloor depth:-1297.396973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.214960 meters # Minimum depth: 1283.157761 meters looking forward 0.000000 meters along route # Maximum depth: 1283.157761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.157761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716785; longitude = -122.019541; captureRadius = 10; duration = 208; initialDepth = 1233.271839; finalDepth = 1233.157761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1233.157761 # Seafloor depth:-1283.157761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.214960 meters # Minimum depth: 1283.271839 meters looking forward 0.000000 meters along route # Maximum depth: 1283.271839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.271839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717687; longitude = -122.019343; captureRadius = 10; duration = 208; initialDepth = 1251.555809; finalDepth = 1233.271839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1233.271839 # Seafloor depth:-1283.271839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.214960 meters # Minimum depth: 1301.555809 meters looking forward 0.000000 meters along route # Maximum depth: 1301.555809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.555809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718589; longitude = -122.019144; captureRadius = 10; duration = 208; initialDepth = 1285.495762; finalDepth = 1251.555809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1251.555809 # Seafloor depth:-1301.555809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.214960 meters # Minimum depth: 1335.495762 meters looking forward 0.000000 meters along route # Maximum depth: 1335.495762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.495762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719491; longitude = -122.018946; captureRadius = 10; duration = 208; initialDepth = 1259.760499; finalDepth = 1285.495762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1285.495762 # Seafloor depth:-1335.495762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.214960 meters # Minimum depth: 1309.760499 meters looking forward 0.000000 meters along route # Maximum depth: 1309.760499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.760499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720393; longitude = -122.018748; captureRadius = 10; duration = 208; initialDepth = 1253.416138; finalDepth = 1259.760499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1259.760499 # Seafloor depth:-1309.760499 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 104.214960 meters # Minimum depth: 1303.416138 meters looking forward 0.000000 meters along route # Maximum depth: 1303.416138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.416138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721356; longitude = -122.018536; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1225.763074; finalDepth = 1253.416138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1253.416138 # Seafloor depth:-1303.416138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.214960 meters # Minimum depth: 1275.763074 meters looking forward 0.000000 meters along route # Maximum depth: 1275.763074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.763074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722059; longitude = -122.019170; captureRadius = 10; duration = 208; initialDepth = 1193.528931; finalDepth = 1225.763074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1225.763074 # Seafloor depth:-1275.763074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.214960 meters # Minimum depth: 1243.528931 meters looking forward 0.000000 meters along route # Maximum depth: 1243.528931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.528931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722803; longitude = -122.019842; captureRadius = 10; duration = 208; initialDepth = 1155.436027; finalDepth = 1193.528931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1193.528931 # Seafloor depth:-1243.528931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.214960 meters # Minimum depth: 1205.436027 meters looking forward 0.000000 meters along route # Maximum depth: 1205.436027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.436027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723551; longitude = -122.020517; captureRadius = 10; duration = 208; initialDepth = 1105.059448; finalDepth = 1155.436027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.436027 # Seafloor depth:-1205.436027 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 104.214960 meters # Minimum depth: 1155.059448 meters looking forward 0.000000 meters along route # Maximum depth: 1155.059448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.059448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724332; longitude = -122.021223; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1057.497369; finalDepth = 1105.059448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.059448 # Seafloor depth:-1155.059448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.214960 meters # Minimum depth: 1107.497369 meters looking forward 0.000000 meters along route # Maximum depth: 1107.497369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.497369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725445; longitude = -122.021761; captureRadius = 10; duration = 208; initialDepth = 1033.310993; finalDepth = 1057.497369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.497369 # Seafloor depth:-1107.497369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.214960 meters # Minimum depth: 1083.310993 meters looking forward 0.000000 meters along route # Maximum depth: 1083.310993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.310993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726347; longitude = -122.022196; captureRadius = 10; duration = 208; initialDepth = 1046.778351; finalDepth = 1033.310993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.310993 # Seafloor depth:-1083.310993 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 104.214960 meters # Minimum depth: 1096.778351 meters looking forward 0.000000 meters along route # Maximum depth: 1096.778351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.778351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727189; longitude = -122.022603; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1053.405780; finalDepth = 1046.778351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.778351 # Seafloor depth:-1096.778351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.214960 meters # Minimum depth: 1103.405780 meters looking forward 0.000000 meters along route # Maximum depth: 1103.405780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.405780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727790; longitude = -122.023349; captureRadius = 10; duration = 208; initialDepth = 1052.991369; finalDepth = 1053.405780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.40578 # Seafloor depth:-1103.405780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.214960 meters # Minimum depth: 1102.991369 meters looking forward 0.000000 meters along route # Maximum depth: 1102.991369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.991369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728482; longitude = -122.024208; captureRadius = 10; duration = 208; initialDepth = 1039.238502; finalDepth = 1052.991369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.991369 # Seafloor depth:-1102.991369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.214960 meters # Minimum depth: 1089.238502 meters looking forward 0.000000 meters along route # Maximum depth: 1089.238502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.238502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729143; longitude = -122.025029; captureRadius = 10; duration = 208; initialDepth = 1018.513031; finalDepth = 1039.238502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.238502 # Seafloor depth:-1089.238502 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 104.214960 meters # Minimum depth: 1068.513031 meters looking forward 0.000000 meters along route # Maximum depth: 1068.513031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.513031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729805; longitude = -122.025850; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1024.907062; finalDepth = 1018.513031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.513031 # Seafloor depth:-1068.513031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.214960 meters # Minimum depth: 1074.907062 meters looking forward 0.000000 meters along route # Maximum depth: 1074.907062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.907062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730603; longitude = -122.026671; captureRadius = 10; duration = 208; initialDepth = 1060.642502; finalDepth = 1024.907062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.907062 # Seafloor depth:-1074.907062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.214960 meters # Minimum depth: 1110.642502 meters looking forward 0.000000 meters along route # Maximum depth: 1110.642502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.642502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731308; longitude = -122.027397; captureRadius = 10; duration = 208; initialDepth = 1059.977703; finalDepth = 1060.642502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.642502 # Seafloor depth:-1110.642502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.214960 meters # Minimum depth: 1109.977703 meters looking forward 0.000000 meters along route # Maximum depth: 1109.977703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.977703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732030; longitude = -122.028140; captureRadius = 10; duration = 208; initialDepth = 1001.492174; finalDepth = 1059.977703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.977703 # Seafloor depth:-1109.977703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.214960 meters # Minimum depth: 1051.492174 meters looking forward 0.000000 meters along route # Maximum depth: 1051.492174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.492174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732778; longitude = -122.028910; captureRadius = 10; duration = 208; initialDepth = 991.864777; finalDepth = 1001.492174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.492174 # Seafloor depth:-1051.492174 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 104.214960 meters # Minimum depth: 1041.864777 meters looking forward 0.000000 meters along route # Maximum depth: 1041.864777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.864777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733503; longitude = -122.029656; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1004.129225; finalDepth = 991.864777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.864777 # Seafloor depth:-1041.864777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.214960 meters # Minimum depth: 1054.129225 meters looking forward 0.000000 meters along route # Maximum depth: 1054.129225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.129225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734195; longitude = -122.029687; captureRadius = 10; duration = 208; initialDepth = 997.351501; finalDepth = 1004.129225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.129225 # Seafloor depth:-1054.129225 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 104.214960 meters # Minimum depth: 1047.351501 meters looking forward 0.000000 meters along route # Maximum depth: 1047.351501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.351501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735157; longitude = -122.029731; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1027.866963; finalDepth = 997.351501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.351501 # Seafloor depth:-1047.351501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.214960 meters # Minimum depth: 1077.866963 meters looking forward 0.000000 meters along route # Maximum depth: 1077.866963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.866963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735201; longitude = -122.028574; captureRadius = 10; duration = 208; initialDepth = 1046.725800; finalDepth = 1027.866963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.866963 # Seafloor depth:-1077.866963 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 104.214960 meters # Minimum depth: 1096.725800 meters looking forward 0.000000 meters along route # Maximum depth: 1096.725800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.725800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735247; longitude = -122.027380; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1095.298445; finalDepth = 1046.725800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.7258 # Seafloor depth:-1096.725800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 104.214960 meters # Minimum depth: 1145.298445 meters looking forward 0.000000 meters along route # Maximum depth: 1145.298445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.298445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734066; longitude = -122.026447; captureRadius = 10; duration = 208; initialDepth = 1119.099670; finalDepth = 1095.298445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.298445 # Seafloor depth:-1145.298445 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 104.214960 meters # Minimum depth: 1169.099670 meters looking forward 0.000000 meters along route # Maximum depth: 1169.099670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.099670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733263; longitude = -122.025813; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1164.912030; finalDepth = 1119.099670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.09967 # Seafloor depth:-1169.099670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 104.214960 meters # Minimum depth: 1232.248898 meters looking forward 0.000000 meters along route # Maximum depth: 1232.248898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.912030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732734; longitude = -122.025216; captureRadius = 10; duration = 208; initialDepth = 1214.680317; finalDepth = 1164.912030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3368678679906 # Actual altitude: 67.3368678679906 # Commanded vehicle depth:1164.91203013201 # Seafloor depth:-1232.248898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 269.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 269.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 104.214960 meters # Minimum depth: 1264.680317 meters looking forward 0.000000 meters along route # Maximum depth: 1264.680317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.680317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732030; longitude = -122.024421; captureRadius = 10; duration = 208; initialDepth = 1224.986091; finalDepth = 1214.680317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3368678679906 # Actual altitude: 67.3368678679906 # Commanded vehicle depth:1214.680317 # Seafloor depth:-1264.680317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 269.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 269.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 104.214960 meters # Minimum depth: 1274.986091 meters looking forward 0.000000 meters along route # Maximum depth: 1274.986091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.986091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731308; longitude = -122.023607; captureRadius = 10; duration = 208; initialDepth = 1200.661377; finalDepth = 1224.986091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1224.986091 # Seafloor depth:-1274.986091 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 104.214960 meters # Minimum depth: 1250.661377 meters looking forward 0.000000 meters along route # Maximum depth: 1250.661377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.661377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730617; longitude = -122.022827; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1203.766839; finalDepth = 1200.661377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1200.661377 # Seafloor depth:-1250.661377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 104.214960 meters # Minimum depth: 1253.766839 meters looking forward 0.000000 meters along route # Maximum depth: 1253.766839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.766839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729790; longitude = -122.021521; captureRadius = 10; duration = 208; initialDepth = 1208.007286; finalDepth = 1203.766839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1203.766839 # Seafloor depth:-1253.766839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 104.214960 meters # Minimum depth: 1258.007286 meters looking forward 0.000000 meters along route # Maximum depth: 1258.007286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.007286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729223; longitude = -122.020626; captureRadius = 10; duration = 208; initialDepth = 1196.951538; finalDepth = 1208.007286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1208.007286 # Seafloor depth:-1258.007286 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 104.214960 meters # Minimum depth: 1246.951538 meters looking forward 0.000000 meters along route # Maximum depth: 1246.951538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.951538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728632; longitude = -122.019693; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1198.042907; finalDepth = 1196.951538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1196.951538 # Seafloor depth:-1246.951538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.214960 meters # Minimum depth: 1248.042907 meters looking forward 0.000000 meters along route # Maximum depth: 1248.042907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.042907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727700; longitude = -122.019246; captureRadius = 10; duration = 208; initialDepth = 1184.028062; finalDepth = 1198.042907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1198.042907 # Seafloor depth:-1248.042907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.214960 meters # Minimum depth: 1234.028062 meters looking forward 0.000000 meters along route # Maximum depth: 1234.028062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.028062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726798; longitude = -122.018813; captureRadius = 10; duration = 208; initialDepth = 1199.516497; finalDepth = 1184.028062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1184.028062 # Seafloor depth:-1234.028062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.214960 meters # Minimum depth: 1249.516497 meters looking forward 0.000000 meters along route # Maximum depth: 1249.516497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1199.516497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725896; longitude = -122.018380; captureRadius = 10; duration = 208; initialDepth = 1228.052521; finalDepth = 1199.516497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1199.516497 # Seafloor depth:-1249.516497 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 104.214960 meters # Minimum depth: 1278.052521 meters looking forward 0.000000 meters along route # Maximum depth: 1278.052521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.052521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725054; longitude = -122.017976; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1284.713233; finalDepth = 1228.052521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1228.052521 # Seafloor depth:-1278.052521 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 104.214960 meters # Minimum depth: 1334.713233 meters looking forward 0.000000 meters along route # Maximum depth: 1334.713233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.713233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723731; longitude = -122.016999; captureRadius = 10; duration = 208; initialDepth = 1335.826947; finalDepth = 1284.713233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1284.713233 # Seafloor depth:-1334.713233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 104.214960 meters # Minimum depth: 1385.826947 meters looking forward 0.000000 meters along route # Maximum depth: 1385.826947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.826947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722919; longitude = -122.016399; captureRadius = 10; duration = 208; initialDepth = 1350.501291; finalDepth = 1335.826947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1335.826947 # Seafloor depth:-1385.826947 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 104.214960 meters # Minimum depth: 1400.501291 meters looking forward 0.000000 meters along route # Maximum depth: 1400.501291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.501291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722107; longitude = -122.015800; captureRadius = 10; duration = 208; initialDepth = 1369.464539; finalDepth = 1350.501291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1350.501291 # Seafloor depth:-1400.501291 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 104.214960 meters # Minimum depth: 1419.464539 meters looking forward 0.000000 meters along route # Maximum depth: 1419.464539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.464539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721265; longitude = -122.015178; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1377.572778; finalDepth = 1369.464539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1369.464539 # Seafloor depth:-1419.464539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1427.572778 meters looking forward 0.000000 meters along route # Maximum depth: 1427.572778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.572778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720574; longitude = -122.015345; captureRadius = 10; duration = 208; initialDepth = 1381.824073; finalDepth = 1377.572778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1377.572778 # Seafloor depth:-1427.572778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1431.824073 meters looking forward 0.000000 meters along route # Maximum depth: 1431.824073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.824073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719672; longitude = -122.015564; captureRadius = 10; duration = 208; initialDepth = 1385.475211; finalDepth = 1381.824073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1381.824073 # Seafloor depth:-1431.824073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1435.475211 meters looking forward 0.000000 meters along route # Maximum depth: 1435.475211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.475211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718770; longitude = -122.015782; captureRadius = 10; duration = 208; initialDepth = 1374.713706; finalDepth = 1385.475211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1385.475211 # Seafloor depth:-1435.475211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1424.713706 meters looking forward 0.000000 meters along route # Maximum depth: 1424.713706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.713706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717868; longitude = -122.016000; captureRadius = 10; duration = 208; initialDepth = 1359.282587; finalDepth = 1374.713706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1374.713706 # Seafloor depth:-1424.713706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1409.282587 meters looking forward 0.000000 meters along route # Maximum depth: 1409.282587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.282587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716966; longitude = -122.016219; captureRadius = 10; duration = 208; initialDepth = 1363.209565; finalDepth = 1359.282587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1359.282587 # Seafloor depth:-1409.282587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.214960 meters # Minimum depth: 1413.209565 meters looking forward 0.000000 meters along route # Maximum depth: 1413.209565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.209565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716063; longitude = -122.016437; captureRadius = 10; duration = 208; initialDepth = 1352.176697; finalDepth = 1363.209565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1363.209565 # Seafloor depth:-1413.209565 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 104.214960 meters # Minimum depth: 1402.176697 meters looking forward 0.000000 meters along route # Maximum depth: 1402.176697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.176697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715101; longitude = -122.016670; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1332.801656; finalDepth = 1352.176697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1352.176697 # Seafloor depth:-1402.176697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.214960 meters # Minimum depth: 1382.801656 meters looking forward 0.000000 meters along route # Maximum depth: 1382.801656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.801656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714051; longitude = -122.017155; captureRadius = 10; duration = 208; initialDepth = 1308.726956; finalDepth = 1332.801656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1332.801656 # Seafloor depth:-1382.801656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.214960 meters # Minimum depth: 1358.726956 meters looking forward 0.000000 meters along route # Maximum depth: 1358.726956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.726956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713177; longitude = -122.017560; captureRadius = 10; duration = 208; initialDepth = 1331.468607; finalDepth = 1308.726956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1308.726956 # Seafloor depth:-1358.726956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.214960 meters # Minimum depth: 1381.468607 meters looking forward 0.000000 meters along route # Maximum depth: 1381.468607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.468607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712275; longitude = -122.017977; captureRadius = 10; duration = 208; initialDepth = 1348.300584; finalDepth = 1331.468607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1331.468607 # Seafloor depth:-1381.468607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.214960 meters # Minimum depth: 1398.300584 meters looking forward 0.000000 meters along route # Maximum depth: 1398.300584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.300584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711373; longitude = -122.018394; captureRadius = 10; duration = 208; initialDepth = 1343.903717; finalDepth = 1348.300584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1348.300584 # Seafloor depth:-1398.300584 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 104.214960 meters # Minimum depth: 1393.903717 meters looking forward 0.000000 meters along route # Maximum depth: 1393.903717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.903717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710501; longitude = -122.018797; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1347.072098; finalDepth = 1343.903717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1343.903717 # Seafloor depth:-1393.903717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.214960 meters # Minimum depth: 1397.072098 meters looking forward 0.000000 meters along route # Maximum depth: 1397.072098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1347.072098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709786; longitude = -122.019170; captureRadius = 10; duration = 208; initialDepth = 1361.094726; finalDepth = 1347.072098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1347.072098 # Seafloor depth:-1397.072098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.214960 meters # Minimum depth: 1411.094726 meters looking forward 0.000000 meters along route # Maximum depth: 1411.094726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.094726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708929; longitude = -122.019618; captureRadius = 10; duration = 208; initialDepth = 1376.572731; finalDepth = 1361.094726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1361.094726 # Seafloor depth:-1411.094726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.214960 meters # Minimum depth: 1426.572731 meters looking forward 0.000000 meters along route # Maximum depth: 1426.572731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.572731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708035; longitude = -122.020086; captureRadius = 10; duration = 208; initialDepth = 1403.013395; finalDepth = 1376.572731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1376.572731 # Seafloor depth:-1426.572731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.214960 meters # Minimum depth: 1453.013395 meters looking forward 0.000000 meters along route # Maximum depth: 1453.013395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.013395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707133; longitude = -122.020557; captureRadius = 10; duration = 208; initialDepth = 1410.246385; finalDepth = 1403.013395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1403.013395 # Seafloor depth:-1453.013395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.214960 meters # Minimum depth: 1460.246385 meters looking forward 0.000000 meters along route # Maximum depth: 1460.246385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.246385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706231; longitude = -122.021028; captureRadius = 10; duration = 208; initialDepth = 1408.802521; finalDepth = 1410.246385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1410.246385 # Seafloor depth:-1460.246385 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 104.214960 meters # Minimum depth: 1458.802521 meters looking forward 0.000000 meters along route # Maximum depth: 1458.802521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1408.802521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705359; longitude = -122.021484; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1402.514706; finalDepth = 1408.802521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1408.802521 # Seafloor depth:-1458.802521 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.214960 meters # Minimum depth: 1452.514706 meters looking forward 0.000000 meters along route # Maximum depth: 1452.514706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.514706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704156; longitude = -122.022277; captureRadius = 10; duration = 208; initialDepth = 1416.073702; finalDepth = 1402.514706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1402.514706 # Seafloor depth:-1452.514706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.214960 meters # Minimum depth: 1466.073702 meters looking forward 0.000000 meters along route # Maximum depth: 1466.073702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.073702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703345; longitude = -122.022812; captureRadius = 10; duration = 208; initialDepth = 1431.159698; finalDepth = 1416.073702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1416.073702 # Seafloor depth:-1466.073702 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 104.214960 meters # Minimum depth: 1481.159698 meters looking forward 0.000000 meters along route # Maximum depth: 1481.159698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.159698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702473; longitude = -122.023387; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1392.262054; finalDepth = 1431.159698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1431.159698 # Seafloor depth:-1481.159698 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 104.214960 meters # Minimum depth: 1442.262054 meters looking forward 0.000000 meters along route # Maximum depth: 1442.262054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.262054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703405; longitude = -122.024917; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1379.192529; finalDepth = 1392.262054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1392.262054 # Seafloor depth:-1442.262054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.214960 meters # Minimum depth: 1429.192529 meters looking forward 0.000000 meters along route # Maximum depth: 1429.192529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.192529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704517; longitude = -122.024043; captureRadius = 10; duration = 208; initialDepth = 1359.628618; finalDepth = 1379.192529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1379.192529 # Seafloor depth:-1429.192529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.214960 meters # Minimum depth: 1409.628618 meters looking forward 0.000000 meters along route # Maximum depth: 1409.628618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.628618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705329; longitude = -122.023405; captureRadius = 10; duration = 208; initialDepth = 1360.185669; finalDepth = 1359.628618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1359.628618 # Seafloor depth:-1409.628618 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 104.214960 meters # Minimum depth: 1410.185669 meters looking forward 0.000000 meters along route # Maximum depth: 1410.185669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.185669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706111; longitude = -122.022790; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1373.953186; finalDepth = 1360.185669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1360.185669 # Seafloor depth:-1410.185669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.214960 meters # Minimum depth: 1423.953186 meters looking forward 0.000000 meters along route # Maximum depth: 1423.953186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.953186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707464; longitude = -122.022081; captureRadius = 10; duration = 208; initialDepth = 1342.342148; finalDepth = 1373.953186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1373.953186 # Seafloor depth:-1423.953186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.214960 meters # Minimum depth: 1392.342148 meters looking forward 0.000000 meters along route # Maximum depth: 1392.342148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1342.342148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708318; longitude = -122.021633; captureRadius = 10; duration = 208; initialDepth = 1336.239133; finalDepth = 1342.342148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1342.342148 # Seafloor depth:-1392.342148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.214960 meters # Minimum depth: 1386.239133 meters looking forward 0.000000 meters along route # Maximum depth: 1386.239133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1336.239133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709208; longitude = -122.021167; captureRadius = 10; duration = 208; initialDepth = 1301.574900; finalDepth = 1336.239133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1336.239133 # Seafloor depth:-1386.239133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.214960 meters # Minimum depth: 1351.574900 meters looking forward 0.000000 meters along route # Maximum depth: 1351.574900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1301.574900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710110; longitude = -122.020694; captureRadius = 10; duration = 208; initialDepth = 1294.573578; finalDepth = 1301.574900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1301.5749 # Seafloor depth:-1351.574900 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 104.214960 meters # Minimum depth: 1344.573578 meters looking forward 0.000000 meters along route # Maximum depth: 1344.573578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.573578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710952; longitude = -122.020253; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1294.865098; finalDepth = 1294.573578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1294.573578 # Seafloor depth:-1344.573578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 104.214960 meters # Minimum depth: 1344.865098 meters looking forward 0.000000 meters along route # Maximum depth: 1344.865098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.865098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711914; longitude = -122.019794; captureRadius = 10; duration = 208; initialDepth = 1285.336988; finalDepth = 1294.865098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1294.865098 # Seafloor depth:-1344.865098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 104.214960 meters # Minimum depth: 1335.336988 meters looking forward 0.000000 meters along route # Maximum depth: 1335.336988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.336988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712816; longitude = -122.019364; captureRadius = 10; duration = 208; initialDepth = 1264.618332; finalDepth = 1285.336988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1285.336988 # Seafloor depth:-1335.336988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 104.214960 meters # Minimum depth: 1314.618332 meters looking forward 0.000000 meters along route # Maximum depth: 1314.618332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.618332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713718; longitude = -122.018934; captureRadius = 10; duration = 208; initialDepth = 1274.580275; finalDepth = 1264.618332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1264.618332 # Seafloor depth:-1314.618332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 104.214960 meters # Minimum depth: 1324.580275 meters looking forward 0.000000 meters along route # Maximum depth: 1324.580275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1274.580275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714631; longitude = -122.018499; captureRadius = 10; duration = 208; initialDepth = 1305.075409; finalDepth = 1274.580275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1274.580275 # Seafloor depth:-1324.580275 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 104.214960 meters # Minimum depth: 1355.075409 meters looking forward 0.000000 meters along route # Maximum depth: 1355.075409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.075409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715492; longitude = -122.018088; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1300.068175; finalDepth = 1305.075409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1305.075409 # Seafloor depth:-1355.075409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.214960 meters # Minimum depth: 1350.068175 meters looking forward 0.000000 meters along route # Maximum depth: 1350.068175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1300.068175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716785; longitude = -122.017792; captureRadius = 10; duration = 208; initialDepth = 1316.698793; finalDepth = 1300.068175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1300.068175 # Seafloor depth:-1350.068175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.214960 meters # Minimum depth: 1366.698793 meters looking forward 0.000000 meters along route # Maximum depth: 1366.698793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.698793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717687; longitude = -122.017585; captureRadius = 10; duration = 208; initialDepth = 1345.927287; finalDepth = 1316.698793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1316.698793 # Seafloor depth:-1366.698793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.214960 meters # Minimum depth: 1395.927287 meters looking forward 0.000000 meters along route # Maximum depth: 1395.927287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.927287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718589; longitude = -122.017379; captureRadius = 10; duration = 208; initialDepth = 1366.524387; finalDepth = 1345.927287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1345.927287 # Seafloor depth:-1395.927287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.214960 meters # Minimum depth: 1416.524387 meters looking forward 0.000000 meters along route # Maximum depth: 1416.524387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.524387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719491; longitude = -122.017172; captureRadius = 10; duration = 208; initialDepth = 1378.178724; finalDepth = 1366.524387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1366.524387 # Seafloor depth:-1416.524387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.214960 meters # Minimum depth: 1428.178724 meters looking forward 0.000000 meters along route # Maximum depth: 1428.178724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.178724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720393; longitude = -122.016965; captureRadius = 10; duration = 208; initialDepth = 1359.658722; finalDepth = 1378.178724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1378.178724 # Seafloor depth:-1428.178724 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 104.214960 meters # Minimum depth: 1409.658722 meters looking forward 0.000000 meters along route # Maximum depth: 1409.658722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.658722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721356; longitude = -122.016745; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1284.172787; finalDepth = 1359.658722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1359.658722 # Seafloor depth:-1409.658722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.214960 meters # Minimum depth: 1334.172787 meters looking forward 0.000000 meters along route # Maximum depth: 1334.172787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.172787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722288; longitude = -122.017516; captureRadius = 10; duration = 208; initialDepth = 1251.844519; finalDepth = 1284.172787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1284.172787 # Seafloor depth:-1334.172787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.214960 meters # Minimum depth: 1301.844519 meters looking forward 0.000000 meters along route # Maximum depth: 1301.844519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.844519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723070; longitude = -122.018163; captureRadius = 10; duration = 208; initialDepth = 1194.885306; finalDepth = 1251.844519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1251.844519 # Seafloor depth:-1301.844519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.214960 meters # Minimum depth: 1244.885306 meters looking forward 0.000000 meters along route # Maximum depth: 1244.885306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.885306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723821; longitude = -122.018785; captureRadius = 10; duration = 208; initialDepth = 1138.796173; finalDepth = 1194.885306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1194.885306 # Seafloor depth:-1244.885306 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 104.214960 meters # Minimum depth: 1188.796173 meters looking forward 0.000000 meters along route # Maximum depth: 1188.796173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.796173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724603; longitude = -122.019432; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1111.770329; finalDepth = 1138.796173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1138.796173 # Seafloor depth:-1188.796173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.214960 meters # Minimum depth: 1161.770329 meters looking forward 0.000000 meters along route # Maximum depth: 1161.770329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.770329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726076; longitude = -122.020115; captureRadius = 10; duration = 208; initialDepth = 1102.959649; finalDepth = 1111.770329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.770329 # Seafloor depth:-1161.770329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.214960 meters # Minimum depth: 1152.959649 meters looking forward 0.000000 meters along route # Maximum depth: 1152.959649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.959649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726936; longitude = -122.020514; captureRadius = 10; duration = 208; initialDepth = 1119.260986; finalDepth = 1102.959649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.959649 # Seafloor depth:-1152.959649 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 104.214960 meters # Minimum depth: 1169.260986 meters looking forward 0.000000 meters along route # Maximum depth: 1169.260986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.260986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727820; longitude = -122.020924; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1121.619910; finalDepth = 1119.260986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.260986 # Seafloor depth:-1169.260986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.214960 meters # Minimum depth: 1171.619910 meters looking forward 0.000000 meters along route # Maximum depth: 1171.619910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.619910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728422; longitude = -122.021758; captureRadius = 10; duration = 208; initialDepth = 1118.297051; finalDepth = 1121.619910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.61991 # Seafloor depth:-1171.619910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.214960 meters # Minimum depth: 1168.297051 meters looking forward 0.000000 meters along route # Maximum depth: 1168.297051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.297051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729058; longitude = -122.022641; captureRadius = 10; duration = 208; initialDepth = 1131.603532; finalDepth = 1118.297051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.297051 # Seafloor depth:-1168.297051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.214960 meters # Minimum depth: 1181.603532 meters looking forward 0.000000 meters along route # Maximum depth: 1181.603532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.603532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729704; longitude = -122.023536; captureRadius = 10; duration = 208; initialDepth = 1091.479523; finalDepth = 1131.603532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.603532 # Seafloor depth:-1181.603532 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 104.214960 meters # Minimum depth: 1141.479523 meters looking forward 0.000000 meters along route # Maximum depth: 1141.479523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.479523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730376; longitude = -122.024469; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1107.958974; finalDepth = 1091.479523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.479523 # Seafloor depth:-1141.479523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.214960 meters # Minimum depth: 1157.958974 meters looking forward 0.000000 meters along route # Maximum depth: 1157.958974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.958974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731493; longitude = -122.025663; captureRadius = 10; duration = 208; initialDepth = 1130.427541; finalDepth = 1107.958974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.958974 # Seafloor depth:-1157.958974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.214960 meters # Minimum depth: 1180.427541 meters looking forward 0.000000 meters along route # Maximum depth: 1180.427541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.427541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732226; longitude = -122.026447; captureRadius = 10; duration = 208; initialDepth = 1058.760075; finalDepth = 1130.427541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.427541 # Seafloor depth:-1180.427541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.214960 meters # Minimum depth: 1108.760075 meters looking forward 0.000000 meters along route # Maximum depth: 1108.760075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.760075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732932; longitude = -122.027201; captureRadius = 10; duration = 208; initialDepth = 1046.186432; finalDepth = 1058.760075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.760075 # Seafloor depth:-1108.760075 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 104.214960 meters # Minimum depth: 1096.186432 meters looking forward 0.000000 meters along route # Maximum depth: 1096.186432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.186432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733623; longitude = -122.027940; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1072.550332; finalDepth = 1046.186432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.186432 # Seafloor depth:-1096.186432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1122.550332 meters looking forward 0.000000 meters along route # Maximum depth: 1122.550332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.550332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733447; longitude = -122.027119; captureRadius = 10; duration = 208; initialDepth = 1113.519737; finalDepth = 1072.550332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.550332 # Seafloor depth:-1122.550332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1163.519737 meters looking forward 0.000000 meters along route # Maximum depth: 1163.519737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.519737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733203; longitude = -122.025974; captureRadius = 10; duration = 208; initialDepth = 1171.919395; finalDepth = 1113.519737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.519737 # Seafloor depth:-1163.519737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1247.047286 meters looking forward 0.000000 meters along route # Maximum depth: 1247.047286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.919395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732968; longitude = -122.024880; captureRadius = 10; duration = 208; initialDepth = 1231.635519; finalDepth = 1171.919395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1278909347961 # Actual altitude: 75.1278909347961 # Commanded vehicle depth:1171.9193950652 # Seafloor depth:-1247.047286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 300.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1293.142517 meters looking forward 0.000000 meters along route # Maximum depth: 1293.142517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.635519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732729; longitude = -122.023760; captureRadius = 10; duration = 208; initialDepth = 1250.370131; finalDepth = 1231.635519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1278909347961 # Actual altitude: 75.1278909347961 # Commanded vehicle depth:1231.63551910416 # Seafloor depth:-1293.142517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 300.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1300.370131 meters looking forward 0.000000 meters along route # Maximum depth: 1300.370131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.370131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732489; longitude = -122.022641; captureRadius = 10; duration = 208; initialDepth = 1264.330569; finalDepth = 1250.370131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5069978958422 # Actual altitude: 61.5069978958422 # Commanded vehicle depth:1250.370131 # Seafloor depth:-1300.370131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 246.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.45; MB_Bottom_Detect_Filter_Max_Range = 246.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1314.330569 meters looking forward 0.000000 meters along route # Maximum depth: 1314.330569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.330569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732250; longitude = -122.021521; captureRadius = 10; duration = 208; initialDepth = 1272.049114; finalDepth = 1264.330569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1264.330569 # Seafloor depth:-1314.330569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1322.049114 meters looking forward 0.000000 meters along route # Maximum depth: 1322.049114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.049114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732010; longitude = -122.020402; captureRadius = 10; duration = 208; initialDepth = 1262.427389; finalDepth = 1272.049114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1272.049114 # Seafloor depth:-1322.049114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1312.427389 meters looking forward 0.000000 meters along route # Maximum depth: 1312.427389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.427389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731771; longitude = -122.019282; captureRadius = 10; duration = 208; initialDepth = 1246.745108; finalDepth = 1262.427389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1262.427389 # Seafloor depth:-1312.427389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1296.745108 meters looking forward 0.000000 meters along route # Maximum depth: 1296.745108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.745108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731531; longitude = -122.018163; captureRadius = 10; duration = 208; initialDepth = 1234.636197; finalDepth = 1246.745108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1246.745108 # Seafloor depth:-1296.745108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1284.636197 meters looking forward 0.000000 meters along route # Maximum depth: 1284.636197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.636197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731292; longitude = -122.017044; captureRadius = 10; duration = 208; initialDepth = 1214.104426; finalDepth = 1234.636197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1234.636197 # Seafloor depth:-1284.636197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1264.104426 meters looking forward 0.000000 meters along route # Maximum depth: 1264.104426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.104426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731052; longitude = -122.015924; captureRadius = 10; duration = 208; initialDepth = 1210.644963; finalDepth = 1214.104426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1214.104426 # Seafloor depth:-1264.104426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1260.644963 meters looking forward 0.000000 meters along route # Maximum depth: 1260.644963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.644963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730813; longitude = -122.014805; captureRadius = 10; duration = 208; initialDepth = 1180.911851; finalDepth = 1210.644963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1210.644963 # Seafloor depth:-1260.644963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1230.911851 meters looking forward 0.000000 meters along route # Maximum depth: 1230.911851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.911851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730573; longitude = -122.013685; captureRadius = 10; duration = 208; initialDepth = 1154.249039; finalDepth = 1180.911851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1180.911851 # Seafloor depth:-1230.911851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1204.249039 meters looking forward 0.000000 meters along route # Maximum depth: 1204.249039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.249039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730334; longitude = -122.012566; captureRadius = 10; duration = 208; initialDepth = 1111.498358; finalDepth = 1154.249039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1154.249039 # Seafloor depth:-1204.249039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1161.498358 meters looking forward 0.000000 meters along route # Maximum depth: 1161.498358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.498358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730095; longitude = -122.011446; captureRadius = 10; duration = 208; initialDepth = 1089.865468; finalDepth = 1111.498358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.498358 # Seafloor depth:-1161.498358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1139.865468 meters looking forward 0.000000 meters along route # Maximum depth: 1139.865468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.865468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729855; longitude = -122.010327; captureRadius = 10; duration = 208; initialDepth = 1119.394422; finalDepth = 1089.865468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.865468 # Seafloor depth:-1139.865468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.214960 meters # Minimum depth: 1169.394422 meters looking forward 0.000000 meters along route # Maximum depth: 1169.394422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.394422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729616; longitude = -122.009207; captureRadius = 10; duration = 208; initialDepth = 1155.598633; finalDepth = 1119.394422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.394422 # Seafloor depth:-1169.394422 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 104.214960 meters # Minimum depth: 1205.598633 meters looking forward 0.000000 meters along route # Maximum depth: 1205.598633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.598633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729384; longitude = -122.008125; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1162.698147; finalDepth = 1155.598633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.598633 # Seafloor depth:-1205.598633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.214960 meters # Minimum depth: 1212.698147 meters looking forward 0.000000 meters along route # Maximum depth: 1212.698147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.698147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729008; longitude = -122.007192; captureRadius = 10; duration = 208; initialDepth = 1163.939026; finalDepth = 1162.698147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1162.698147 # Seafloor depth:-1212.698147 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 104.214960 meters # Minimum depth: 1213.939026 meters looking forward 0.000000 meters along route # Maximum depth: 1213.939026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.939026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728572; longitude = -122.006110; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1201.765020; finalDepth = 1163.939026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1163.939026 # Seafloor depth:-1213.939026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1251.765020 meters looking forward 0.000000 meters along route # Maximum depth: 1251.765020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.765020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727069; longitude = -122.006224; captureRadius = 10; duration = 208; initialDepth = 1208.000156; finalDepth = 1201.765020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1201.76502 # Seafloor depth:-1251.765020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1258.000156 meters looking forward 0.000000 meters along route # Maximum depth: 1258.000156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.000156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726166; longitude = -122.006292; captureRadius = 10; duration = 208; initialDepth = 1211.614940; finalDepth = 1208.000156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1208.000156 # Seafloor depth:-1258.000156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1261.614940 meters looking forward 0.000000 meters along route # Maximum depth: 1261.614940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.614940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725264; longitude = -122.006361; captureRadius = 10; duration = 208; initialDepth = 1207.272430; finalDepth = 1211.614940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1211.61494 # Seafloor depth:-1261.614940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1257.272430 meters looking forward 0.000000 meters along route # Maximum depth: 1257.272430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.272430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724362; longitude = -122.006429; captureRadius = 10; duration = 208; initialDepth = 1216.968834; finalDepth = 1207.272430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1207.27243 # Seafloor depth:-1257.272430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1266.968834 meters looking forward 0.000000 meters along route # Maximum depth: 1266.968834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.968834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723460; longitude = -122.006497; captureRadius = 10; duration = 208; initialDepth = 1219.300183; finalDepth = 1216.968834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1216.968834 # Seafloor depth:-1266.968834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1269.300183 meters looking forward 0.000000 meters along route # Maximum depth: 1269.300183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.300183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722558; longitude = -122.006566; captureRadius = 10; duration = 208; initialDepth = 1248.060356; finalDepth = 1219.300183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1219.300183 # Seafloor depth:-1269.300183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.214960 meters # Minimum depth: 1298.060356 meters looking forward 0.000000 meters along route # Maximum depth: 1298.060356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.060356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721656; longitude = -122.006634; captureRadius = 10; duration = 208; initialDepth = 1246.110992; finalDepth = 1248.060356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1248.060356 # Seafloor depth:-1298.060356 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 104.214960 meters # Minimum depth: 1296.110992 meters looking forward 0.000000 meters along route # Maximum depth: 1296.110992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.110992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720694; longitude = -122.006707; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1286.615000; finalDepth = 1246.110992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1246.110992 # Seafloor depth:-1296.110992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1336.615000 meters looking forward 0.000000 meters along route # Maximum depth: 1336.615000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.615000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719401; longitude = -122.007151; captureRadius = 10; duration = 208; initialDepth = 1293.166774; finalDepth = 1286.615000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1286.615 # Seafloor depth:-1336.615000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1343.166774 meters looking forward 0.000000 meters along route # Maximum depth: 1343.166774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.166774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718499; longitude = -122.007461; captureRadius = 10; duration = 208; initialDepth = 1313.146944; finalDepth = 1293.166774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1293.166774 # Seafloor depth:-1343.166774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1363.146944 meters looking forward 0.000000 meters along route # Maximum depth: 1363.146944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.146944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717597; longitude = -122.007771; captureRadius = 10; duration = 208; initialDepth = 1314.217022; finalDepth = 1313.146944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1313.146944 # Seafloor depth:-1363.146944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1364.217022 meters looking forward 0.000000 meters along route # Maximum depth: 1364.217022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.217022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716675; longitude = -122.008088; captureRadius = 10; duration = 208; initialDepth = 1310.382326; finalDepth = 1314.217022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1314.217022 # Seafloor depth:-1364.217022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1360.382326 meters looking forward 0.000000 meters along route # Maximum depth: 1360.382326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.382326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715793; longitude = -122.008391; captureRadius = 10; duration = 208; initialDepth = 1311.766144; finalDepth = 1310.382326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1310.382326 # Seafloor depth:-1360.382326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.214960 meters # Minimum depth: 1361.766144 meters looking forward 0.000000 meters along route # Maximum depth: 1361.766144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.766144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714891; longitude = -122.008701; captureRadius = 10; duration = 208; initialDepth = 1289.060272; finalDepth = 1311.766144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1311.766144 # Seafloor depth:-1361.766144 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 104.214960 meters # Minimum depth: 1339.060272 meters looking forward 0.000000 meters along route # Maximum depth: 1339.060272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.060272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713959; longitude = -122.009021; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1273.459438; finalDepth = 1289.060272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1289.060272 # Seafloor depth:-1339.060272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.214960 meters # Minimum depth: 1323.459438 meters looking forward 0.000000 meters along route # Maximum depth: 1323.459438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.459438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712636; longitude = -122.009589; captureRadius = 10; duration = 208; initialDepth = 1308.521923; finalDepth = 1273.459438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1273.459438 # Seafloor depth:-1323.459438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.214960 meters # Minimum depth: 1358.521923 meters looking forward 0.000000 meters along route # Maximum depth: 1358.521923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.521923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711698; longitude = -122.009991; captureRadius = 10; duration = 208; initialDepth = 1316.876808; finalDepth = 1308.521923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1308.521923 # Seafloor depth:-1358.521923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.214960 meters # Minimum depth: 1366.876808 meters looking forward 0.000000 meters along route # Maximum depth: 1366.876808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.876808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710832; longitude = -122.010363; captureRadius = 10; duration = 208; initialDepth = 1313.145660; finalDepth = 1316.876808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1316.876808 # Seafloor depth:-1366.876808 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 104.214960 meters # Minimum depth: 1363.145660 meters looking forward 0.000000 meters along route # Maximum depth: 1363.145660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.145660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709960; longitude = -122.010737; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1317.961898; finalDepth = 1313.145660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1313.14566 # Seafloor depth:-1363.145660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.214960 meters # Minimum depth: 1367.961898 meters looking forward 0.000000 meters along route # Maximum depth: 1367.961898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.961898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709108; longitude = -122.011334; captureRadius = 10; duration = 208; initialDepth = 1334.743037; finalDepth = 1317.961898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1317.961898 # Seafloor depth:-1367.961898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.214960 meters # Minimum depth: 1384.743037 meters looking forward 0.000000 meters along route # Maximum depth: 1384.743037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.743037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708306; longitude = -122.011897; captureRadius = 10; duration = 208; initialDepth = 1351.489033; finalDepth = 1334.743037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1334.743037 # Seafloor depth:-1384.743037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.214960 meters # Minimum depth: 1401.489033 meters looking forward 0.000000 meters along route # Maximum depth: 1401.489033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.489033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707494; longitude = -122.012467; captureRadius = 10; duration = 208; initialDepth = 1345.506162; finalDepth = 1351.489033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1351.489033 # Seafloor depth:-1401.489033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.214960 meters # Minimum depth: 1395.506162 meters looking forward 0.000000 meters along route # Maximum depth: 1395.506162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.506162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706682; longitude = -122.013036; captureRadius = 10; duration = 208; initialDepth = 1358.181335; finalDepth = 1345.506162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1345.506162 # Seafloor depth:-1395.506162 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 104.214960 meters # Minimum depth: 1408.181335 meters looking forward 0.000000 meters along route # Maximum depth: 1408.181335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.181335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705810; longitude = -122.013648; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1365.062627; finalDepth = 1358.181335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1358.181335 # Seafloor depth:-1408.181335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1415.062627 meters looking forward 0.000000 meters along route # Maximum depth: 1415.062627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.062627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705149; longitude = -122.014273; captureRadius = 10; duration = 208; initialDepth = 1365.374494; finalDepth = 1365.062627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1365.062627 # Seafloor depth:-1415.062627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1415.374494 meters looking forward 0.000000 meters along route # Maximum depth: 1415.374494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.374494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704427; longitude = -122.014955; captureRadius = 10; duration = 208; initialDepth = 1395.545294; finalDepth = 1365.374494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1365.374494 # Seafloor depth:-1415.374494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1445.545294 meters looking forward 0.000000 meters along route # Maximum depth: 1445.545294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.545294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703705; longitude = -122.015637; captureRadius = 10; duration = 208; initialDepth = 1408.753430; finalDepth = 1395.545294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1395.545294 # Seafloor depth:-1445.545294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1458.753430 meters looking forward 0.000000 meters along route # Maximum depth: 1458.753430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1408.753430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702984; longitude = -122.016319; captureRadius = 10; duration = 208; initialDepth = 1419.515768; finalDepth = 1408.753430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1408.75343 # Seafloor depth:-1458.753430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1469.515768 meters looking forward 0.000000 meters along route # Maximum depth: 1469.515768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.515768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702262; longitude = -122.017001; captureRadius = 10; duration = 208; initialDepth = 1393.600731; finalDepth = 1419.515768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1419.515768 # Seafloor depth:-1469.515768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1443.600731 meters looking forward 0.000000 meters along route # Maximum depth: 1443.600731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.600731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701540; longitude = -122.017683; captureRadius = 10; duration = 208; initialDepth = 1375.382015; finalDepth = 1393.600731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1393.600731 # Seafloor depth:-1443.600731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1425.382015 meters looking forward 0.000000 meters along route # Maximum depth: 1425.382015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.382015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700819; longitude = -122.018365; captureRadius = 10; duration = 208; initialDepth = 1362.560286; finalDepth = 1375.382015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1375.382015 # Seafloor depth:-1425.382015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1412.560286 meters looking forward 0.000000 meters along route # Maximum depth: 1412.560286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.560286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700097; longitude = -122.019047; captureRadius = 10; duration = 208; initialDepth = 1388.760348; finalDepth = 1362.560286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1362.560286 # Seafloor depth:-1412.560286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.214960 meters # Minimum depth: 1438.760348 meters looking forward 0.000000 meters along route # Maximum depth: 1438.760348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.760348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699374; longitude = -122.019730; captureRadius = 10; duration = 208; initialDepth = 1326.822266; finalDepth = 1388.760348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1388.760348 # Seafloor depth:-1438.760348 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 104.214960 meters # Minimum depth: 1376.822266 meters looking forward 0.000000 meters along route # Maximum depth: 1376.822266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1326.822266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698624; longitude = -122.020439; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1202.824066; finalDepth = 1326.822266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1326.822266 # Seafloor depth:-1376.822266 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 104.214960 meters # Minimum depth: 1252.824066 meters looking forward 0.000000 meters along route # Maximum depth: 1252.824066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.824066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697722; longitude = -122.019320; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1287.546725; finalDepth = 1202.824066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1202.824066 # Seafloor depth:-1252.824066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1337.546725 meters looking forward 0.000000 meters along route # Maximum depth: 1337.546725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1287.546725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698924; longitude = -122.018194; captureRadius = 10; duration = 208; initialDepth = 1258.968356; finalDepth = 1287.546725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1287.546725 # Seafloor depth:-1337.546725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1308.968356 meters looking forward 0.000000 meters along route # Maximum depth: 1308.968356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.968356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699646; longitude = -122.017518; captureRadius = 10; duration = 208; initialDepth = 1281.406779; finalDepth = 1258.968356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1258.968356 # Seafloor depth:-1308.968356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1331.406779 meters looking forward 0.000000 meters along route # Maximum depth: 1331.406779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.406779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700368; longitude = -122.016843; captureRadius = 10; duration = 208; initialDepth = 1298.857906; finalDepth = 1281.406779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1281.406779 # Seafloor depth:-1331.406779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1348.857906 meters looking forward 0.000000 meters along route # Maximum depth: 1348.857906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.857906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701089; longitude = -122.016167; captureRadius = 10; duration = 208; initialDepth = 1322.069424; finalDepth = 1298.857906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1298.857906 # Seafloor depth:-1348.857906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1372.069424 meters looking forward 0.000000 meters along route # Maximum depth: 1372.069424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.069424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701811; longitude = -122.015491; captureRadius = 10; duration = 208; initialDepth = 1328.298580; finalDepth = 1322.069424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1322.069424 # Seafloor depth:-1372.069424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1378.298580 meters looking forward 0.000000 meters along route # Maximum depth: 1378.298580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1328.298580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702533; longitude = -122.014816; captureRadius = 10; duration = 208; initialDepth = 1302.587489; finalDepth = 1328.298580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1328.29858 # Seafloor depth:-1378.298580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1352.587489 meters looking forward 0.000000 meters along route # Maximum depth: 1352.587489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.587489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703254; longitude = -122.014140; captureRadius = 10; duration = 208; initialDepth = 1246.051593; finalDepth = 1302.587489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1302.587489 # Seafloor depth:-1352.587489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1296.051593 meters looking forward 0.000000 meters along route # Maximum depth: 1296.051593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.051593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703976; longitude = -122.013464; captureRadius = 10; duration = 208; initialDepth = 1234.622620; finalDepth = 1246.051593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1246.051593 # Seafloor depth:-1296.051593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1284.622620 meters looking forward 0.000000 meters along route # Maximum depth: 1284.622620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.622620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704698; longitude = -122.012789; captureRadius = 10; duration = 208; initialDepth = 1202.758003; finalDepth = 1234.622620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1234.62262 # Seafloor depth:-1284.622620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.214960 meters # Minimum depth: 1252.758003 meters looking forward 0.000000 meters along route # Maximum depth: 1252.758003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.758003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705419; longitude = -122.012113; captureRadius = 10; duration = 208; initialDepth = 1178.860565; finalDepth = 1202.758003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1202.758003 # Seafloor depth:-1252.758003 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 104.214960 meters # Minimum depth: 1228.860565 meters looking forward 0.000000 meters along route # Maximum depth: 1228.860565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.860565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706171; longitude = -122.011409; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1219.223838; finalDepth = 1178.860565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1178.860565 # Seafloor depth:-1228.860565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1269.223838 meters looking forward 0.000000 meters along route # Maximum depth: 1269.223838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.223838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707597; longitude = -122.010663; captureRadius = 10; duration = 208; initialDepth = 1251.219252; finalDepth = 1219.223838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1219.223838 # Seafloor depth:-1269.223838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1301.219252 meters looking forward 0.000000 meters along route # Maximum depth: 1301.219252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.219252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708453; longitude = -122.010215; captureRadius = 10; duration = 208; initialDepth = 1221.076534; finalDepth = 1251.219252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1251.219252 # Seafloor depth:-1301.219252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1271.076534 meters looking forward 0.000000 meters along route # Maximum depth: 1271.076534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.076534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709309; longitude = -122.009767; captureRadius = 10; duration = 208; initialDepth = 1254.548696; finalDepth = 1221.076534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1221.076534 # Seafloor depth:-1271.076534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1304.548696 meters looking forward 0.000000 meters along route # Maximum depth: 1304.548696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.548696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710164; longitude = -122.009319; captureRadius = 10; duration = 208; initialDepth = 1232.967746; finalDepth = 1254.548696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1254.548696 # Seafloor depth:-1304.548696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1282.967746 meters looking forward 0.000000 meters along route # Maximum depth: 1282.967746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.967746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711020; longitude = -122.008872; captureRadius = 10; duration = 208; initialDepth = 1219.972833; finalDepth = 1232.967746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1232.967746 # Seafloor depth:-1282.967746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1269.972833 meters looking forward 0.000000 meters along route # Maximum depth: 1269.972833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.972833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711914; longitude = -122.008404; captureRadius = 10; duration = 208; initialDepth = 1202.555897; finalDepth = 1219.972833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1219.972833 # Seafloor depth:-1269.972833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.214960 meters # Minimum depth: 1252.555897 meters looking forward 0.000000 meters along route # Maximum depth: 1252.555897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.555897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712816; longitude = -122.007932; captureRadius = 10; duration = 208; initialDepth = 1208.076538; finalDepth = 1202.555897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1202.555897 # Seafloor depth:-1252.555897 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 104.214960 meters # Minimum depth: 1258.076538 meters looking forward 0.000000 meters along route # Maximum depth: 1258.076538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.076538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713658; longitude = -122.007491; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1207.708712; finalDepth = 1208.076538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1208.076538 # Seafloor depth:-1258.076538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1257.708712 meters looking forward 0.000000 meters along route # Maximum depth: 1257.708712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.708712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715161; longitude = -122.006982; captureRadius = 10; duration = 208; initialDepth = 1207.171226; finalDepth = 1207.708712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1207.708712 # Seafloor depth:-1257.708712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1257.171226 meters looking forward 0.000000 meters along route # Maximum depth: 1257.171226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.171226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716063; longitude = -122.006677; captureRadius = 10; duration = 208; initialDepth = 1216.749838; finalDepth = 1207.171226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1207.171226 # Seafloor depth:-1257.171226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1266.749838 meters looking forward 0.000000 meters along route # Maximum depth: 1266.749838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.749838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716966; longitude = -122.006372; captureRadius = 10; duration = 208; initialDepth = 1239.295013; finalDepth = 1216.749838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1216.749838 # Seafloor depth:-1266.749838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1289.295013 meters looking forward 0.000000 meters along route # Maximum depth: 1289.295013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.295013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717868; longitude = -122.006066; captureRadius = 10; duration = 208; initialDepth = 1193.939420; finalDepth = 1239.295013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1239.295013 # Seafloor depth:-1289.295013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1243.939420 meters looking forward 0.000000 meters along route # Maximum depth: 1243.939420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.939420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718770; longitude = -122.005761; captureRadius = 10; duration = 208; initialDepth = 1182.880974; finalDepth = 1193.939420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1193.93942 # Seafloor depth:-1243.939420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.214960 meters # Minimum depth: 1232.880974 meters looking forward 0.000000 meters along route # Maximum depth: 1232.880974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1182.880974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719672; longitude = -122.005456; captureRadius = 10; duration = 208; initialDepth = 1144.845306; finalDepth = 1182.880974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1182.880974 # Seafloor depth:-1232.880974 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 104.214960 meters # Minimum depth: 1194.845306 meters looking forward 0.000000 meters along route # Maximum depth: 1194.845306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.845306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720604; longitude = -122.005140; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1174.472658; finalDepth = 1144.845306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.845306 # Seafloor depth:-1194.845306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1224.472658 meters looking forward 0.000000 meters along route # Maximum depth: 1224.472658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.472658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721656; longitude = -122.005097; captureRadius = 10; duration = 208; initialDepth = 1127.875813; finalDepth = 1174.472658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1174.472658 # Seafloor depth:-1224.472658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1177.875813 meters looking forward 0.000000 meters along route # Maximum depth: 1177.875813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.875813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722558; longitude = -122.005061; captureRadius = 10; duration = 208; initialDepth = 1135.629930; finalDepth = 1127.875813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.875813 # Seafloor depth:-1177.875813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1185.629930 meters looking forward 0.000000 meters along route # Maximum depth: 1185.629930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.629930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723460; longitude = -122.005024; captureRadius = 10; duration = 208; initialDepth = 1115.265398; finalDepth = 1135.629930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.62993 # Seafloor depth:-1185.629930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1165.265398 meters looking forward 0.000000 meters along route # Maximum depth: 1165.265398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.265398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724362; longitude = -122.004988; captureRadius = 10; duration = 208; initialDepth = 1159.066558; finalDepth = 1115.265398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.265398 # Seafloor depth:-1165.265398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1209.066558 meters looking forward 0.000000 meters along route # Maximum depth: 1209.066558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.066558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725264; longitude = -122.004951; captureRadius = 10; duration = 208; initialDepth = 1120.732538; finalDepth = 1159.066558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.066558 # Seafloor depth:-1209.066558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1170.732538 meters looking forward 0.000000 meters along route # Maximum depth: 1170.732538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.732538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726166; longitude = -122.004915; captureRadius = 10; duration = 208; initialDepth = 1136.496660; finalDepth = 1120.732538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.732538 # Seafloor depth:-1170.732538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1186.496660 meters looking forward 0.000000 meters along route # Maximum depth: 1186.496660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.496660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727069; longitude = -122.004878; captureRadius = 10; duration = 208; initialDepth = 1133.550313; finalDepth = 1136.496660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.49666 # Seafloor depth:-1186.496660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.214960 meters # Minimum depth: 1183.550313 meters looking forward 0.000000 meters along route # Maximum depth: 1183.550313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.550313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727976; longitude = -122.004842; captureRadius = 10; duration = 208; initialDepth = 1093.020691; finalDepth = 1133.550313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.550313 # Seafloor depth:-1183.550313 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.214960 meters # Minimum depth: 1143.020691 meters looking forward 0.000000 meters along route # Maximum depth: 1143.020691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.020691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728903; longitude = -122.004804; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1020.043213; finalDepth = 1093.020691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.020691 # Seafloor depth:-1143.020691 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 104.214960 meters # Minimum depth: 1070.043213 meters looking forward 0.000000 meters along route # Maximum depth: 1070.043213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.043213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729203; longitude = -122.003200; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1032.740752; finalDepth = 1020.043213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.043213 # Seafloor depth:-1070.043213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1082.740752 meters looking forward 0.000000 meters along route # Maximum depth: 1082.740752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.740752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727790; longitude = -122.003255; captureRadius = 10; duration = 208; initialDepth = 1043.045103; finalDepth = 1032.740752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.740752 # Seafloor depth:-1082.740752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1093.045103 meters looking forward 0.000000 meters along route # Maximum depth: 1093.045103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.045103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726888; longitude = -122.003290; captureRadius = 10; duration = 208; initialDepth = 1036.539220; finalDepth = 1043.045103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.045103 # Seafloor depth:-1093.045103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1086.539220 meters looking forward 0.000000 meters along route # Maximum depth: 1086.539220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.539220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725986; longitude = -122.003325; captureRadius = 10; duration = 208; initialDepth = 1073.193048; finalDepth = 1036.539220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.53922 # Seafloor depth:-1086.539220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1123.193048 meters looking forward 0.000000 meters along route # Maximum depth: 1123.193048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.193048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725084; longitude = -122.003360; captureRadius = 10; duration = 208; initialDepth = 1023.131253; finalDepth = 1073.193048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.193048 # Seafloor depth:-1123.193048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1073.131253 meters looking forward 0.000000 meters along route # Maximum depth: 1073.131253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.131253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724182; longitude = -122.003395; captureRadius = 10; duration = 208; initialDepth = 1033.646365; finalDepth = 1023.131253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.131253 # Seafloor depth:-1073.131253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1083.646365 meters looking forward 0.000000 meters along route # Maximum depth: 1083.646365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.646365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723280; longitude = -122.003430; captureRadius = 10; duration = 208; initialDepth = 1029.886516; finalDepth = 1033.646365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.646365 # Seafloor depth:-1083.646365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1079.886516 meters looking forward 0.000000 meters along route # Maximum depth: 1079.886516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.886516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722378; longitude = -122.003465; captureRadius = 10; duration = 208; initialDepth = 1087.691784; finalDepth = 1029.886516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.886516 # Seafloor depth:-1079.886516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.214960 meters # Minimum depth: 1140.753380 meters looking forward 0.000000 meters along route # Maximum depth: 1140.753380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.691784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721476; longitude = -122.003500; captureRadius = 10; duration = 208; initialDepth = 1048.418213; finalDepth = 1087.691784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0615961075703 # Actual altitude: 53.0615961075703 # Commanded vehicle depth:1087.69178389243 # Seafloor depth:-1140.753380 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 104.214960 meters # Minimum depth: 1098.418213 meters looking forward 0.000000 meters along route # Maximum depth: 1098.418213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.418213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720544; longitude = -122.003536; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1092.225468; finalDepth = 1048.418213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0615961075703 # Actual altitude: 53.0615961075703 # Commanded vehicle depth:1048.418213 # Seafloor depth:-1098.418213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1142.225468 meters looking forward 0.000000 meters along route # Maximum depth: 1142.225468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.225468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719581; longitude = -122.003835; captureRadius = 10; duration = 208; initialDepth = 1107.351822; finalDepth = 1092.225468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.225468 # Seafloor depth:-1142.225468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1157.351822 meters looking forward 0.000000 meters along route # Maximum depth: 1157.351822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.351822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718679; longitude = -122.004114; captureRadius = 10; duration = 208; initialDepth = 1157.119867; finalDepth = 1107.351822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.351822 # Seafloor depth:-1157.351822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1207.119867 meters looking forward 0.000000 meters along route # Maximum depth: 1207.119867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.119867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717777; longitude = -122.004394; captureRadius = 10; duration = 208; initialDepth = 1108.302405; finalDepth = 1157.119867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.119867 # Seafloor depth:-1207.119867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1158.302405 meters looking forward 0.000000 meters along route # Maximum depth: 1158.302405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.302405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716875; longitude = -122.004674; captureRadius = 10; duration = 208; initialDepth = 1110.172462; finalDepth = 1108.302405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.302405 # Seafloor depth:-1158.302405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1160.172462 meters looking forward 0.000000 meters along route # Maximum depth: 1160.172462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.172462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715973; longitude = -122.004954; captureRadius = 10; duration = 208; initialDepth = 1109.355213; finalDepth = 1110.172462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.172462 # Seafloor depth:-1160.172462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1159.355213 meters looking forward 0.000000 meters along route # Maximum depth: 1159.355213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.355213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715071; longitude = -122.005234; captureRadius = 10; duration = 208; initialDepth = 1144.641810; finalDepth = 1109.355213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.355213 # Seafloor depth:-1159.355213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.214960 meters # Minimum depth: 1194.641810 meters looking forward 0.000000 meters along route # Maximum depth: 1194.641810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.641810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714169; longitude = -122.005514; captureRadius = 10; duration = 208; initialDepth = 1090.189575; finalDepth = 1144.641810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.64181 # Seafloor depth:-1194.641810 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 104.214960 meters # Minimum depth: 1140.189575 meters looking forward 0.000000 meters along route # Maximum depth: 1140.189575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.189575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713207; longitude = -122.005812; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1091.804211; finalDepth = 1090.189575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.189575 # Seafloor depth:-1140.189575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1141.804211 meters looking forward 0.000000 meters along route # Maximum depth: 1141.804211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.804211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712489; longitude = -122.006185; captureRadius = 10; duration = 208; initialDepth = 1108.825258; finalDepth = 1091.804211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.804211 # Seafloor depth:-1141.804211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1158.825258 meters looking forward 0.000000 meters along route # Maximum depth: 1158.825258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.825258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711627; longitude = -122.006633; captureRadius = 10; duration = 208; initialDepth = 1119.072823; finalDepth = 1108.825258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.825258 # Seafloor depth:-1158.825258 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1169.072823 meters looking forward 0.000000 meters along route # Maximum depth: 1169.072823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.072823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710741; longitude = -122.007093; captureRadius = 10; duration = 208; initialDepth = 1175.918669; finalDepth = 1119.072823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.072823 # Seafloor depth:-1169.072823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1225.918669 meters looking forward 0.000000 meters along route # Maximum depth: 1225.918669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.918669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709903; longitude = -122.007528; captureRadius = 10; duration = 208; initialDepth = 1139.737901; finalDepth = 1175.918669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1175.918669 # Seafloor depth:-1225.918669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1189.737901 meters looking forward 0.000000 meters along route # Maximum depth: 1189.737901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.737901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709027; longitude = -122.007983; captureRadius = 10; duration = 208; initialDepth = 1138.470873; finalDepth = 1139.737901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.737901 # Seafloor depth:-1189.737901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1188.470873 meters looking forward 0.000000 meters along route # Maximum depth: 1188.470873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.470873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708125; longitude = -122.008452; captureRadius = 10; duration = 208; initialDepth = 1097.784323; finalDepth = 1138.470873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1138.470873 # Seafloor depth:-1188.470873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1147.784323 meters looking forward 0.000000 meters along route # Maximum depth: 1147.784323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.784323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707223; longitude = -122.008920; captureRadius = 10; duration = 208; initialDepth = 1089.629492; finalDepth = 1097.784323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.784323 # Seafloor depth:-1147.784323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.214960 meters # Minimum depth: 1139.629492 meters looking forward 0.000000 meters along route # Maximum depth: 1139.629492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.629492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706321; longitude = -122.009389; captureRadius = 10; duration = 208; initialDepth = 1058.597321; finalDepth = 1089.629492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.629492 # Seafloor depth:-1139.629492 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 104.214960 meters # Minimum depth: 1108.597321 meters looking forward 0.000000 meters along route # Maximum depth: 1108.597321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.597321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705449; longitude = -122.009842; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1094.330393; finalDepth = 1058.597321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.597321 # Seafloor depth:-1108.597321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1144.330393 meters looking forward 0.000000 meters along route # Maximum depth: 1144.330393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.330393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704698; longitude = -122.010553; captureRadius = 10; duration = 208; initialDepth = 1103.168340; finalDepth = 1094.330393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.330393 # Seafloor depth:-1144.330393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1153.168340 meters looking forward 0.000000 meters along route # Maximum depth: 1153.168340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.168340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703976; longitude = -122.011235; captureRadius = 10; duration = 208; initialDepth = 1151.208007; finalDepth = 1103.168340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.16834 # Seafloor depth:-1153.168340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1201.208007 meters looking forward 0.000000 meters along route # Maximum depth: 1201.208007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.208007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703254; longitude = -122.011917; captureRadius = 10; duration = 208; initialDepth = 1206.277331; finalDepth = 1151.208007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1151.208007 # Seafloor depth:-1201.208007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1256.277331 meters looking forward 0.000000 meters along route # Maximum depth: 1256.277331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.277331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702533; longitude = -122.012600; captureRadius = 10; duration = 208; initialDepth = 1216.444937; finalDepth = 1206.277331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1206.277331 # Seafloor depth:-1256.277331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1266.444937 meters looking forward 0.000000 meters along route # Maximum depth: 1266.444937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.444937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701811; longitude = -122.013282; captureRadius = 10; duration = 208; initialDepth = 1236.051928; finalDepth = 1216.444937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1216.444937 # Seafloor depth:-1266.444937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1286.051928 meters looking forward 0.000000 meters along route # Maximum depth: 1286.051928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.051928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701089; longitude = -122.013965; captureRadius = 10; duration = 208; initialDepth = 1197.231096; finalDepth = 1236.051928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1236.051928 # Seafloor depth:-1286.051928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1247.231096 meters looking forward 0.000000 meters along route # Maximum depth: 1247.231096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.231096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700368; longitude = -122.014647; captureRadius = 10; duration = 208; initialDepth = 1149.921890; finalDepth = 1197.231096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1197.231096 # Seafloor depth:-1247.231096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1199.921890 meters looking forward 0.000000 meters along route # Maximum depth: 1199.921890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.921890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699646; longitude = -122.015329; captureRadius = 10; duration = 208; initialDepth = 1180.410445; finalDepth = 1149.921890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.92189 # Seafloor depth:-1199.921890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1230.410445 meters looking forward 0.000000 meters along route # Maximum depth: 1230.410445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.410445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698924; longitude = -122.016012; captureRadius = 10; duration = 208; initialDepth = 1201.753282; finalDepth = 1180.410445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1180.410445 # Seafloor depth:-1230.410445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1251.753282 meters looking forward 0.000000 meters along route # Maximum depth: 1251.753282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.753282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698203; longitude = -122.016694; captureRadius = 10; duration = 208; initialDepth = 1160.821326; finalDepth = 1201.753282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1201.753282 # Seafloor depth:-1251.753282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.214960 meters # Minimum depth: 1210.821326 meters looking forward 0.000000 meters along route # Maximum depth: 1210.821326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.821326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697478; longitude = -122.017379; captureRadius = 10; duration = 208; initialDepth = 1119.023407; finalDepth = 1160.821326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1160.821326 # Seafloor depth:-1210.821326 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 104.214960 meters # Minimum depth: 1169.023407 meters looking forward 0.000000 meters along route # Maximum depth: 1169.023407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.023407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696729; longitude = -122.018088; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1012.879974; finalDepth = 1119.023407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.023407 # Seafloor depth:-1169.023407 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 104.214960 meters # Minimum depth: 1062.879974 meters looking forward 0.000000 meters along route # Maximum depth: 1062.879974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.879974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695888; longitude = -122.016670; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1075.812319; finalDepth = 1012.879974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.879974 # Seafloor depth:-1062.879974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1136.789014 meters looking forward 0.000000 meters along route # Maximum depth: 1136.789014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.812319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696669; longitude = -122.015930; captureRadius = 10; duration = 208; initialDepth = 1076.520090; finalDepth = 1075.812319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.976695131525 # Actual altitude: 60.976695131525 # Commanded vehicle depth:1075.81231886847 # Seafloor depth:-1136.789014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 243.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.29; MB_Bottom_Detect_Filter_Max_Range = 243.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1126.520090 meters looking forward 0.000000 meters along route # Maximum depth: 1126.520090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.520090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697391; longitude = -122.015247; captureRadius = 10; duration = 208; initialDepth = 1085.066370; finalDepth = 1076.520090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.976695131525 # Actual altitude: 60.976695131525 # Commanded vehicle depth:1076.52009 # Seafloor depth:-1126.520090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 243.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.29; MB_Bottom_Detect_Filter_Max_Range = 243.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1135.066370 meters looking forward 0.000000 meters along route # Maximum depth: 1135.066370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.066370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698113; longitude = -122.014564; captureRadius = 10; duration = 208; initialDepth = 1040.030702; finalDepth = 1085.066370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.06637 # Seafloor depth:-1135.066370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1090.030702 meters looking forward 0.000000 meters along route # Maximum depth: 1090.030702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.030702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698834; longitude = -122.013880; captureRadius = 10; duration = 208; initialDepth = 1098.154812; finalDepth = 1040.030702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.030702 # Seafloor depth:-1090.030702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1157.635868 meters looking forward 0.000000 meters along route # Maximum depth: 1157.635868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.154812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699556; longitude = -122.013197; captureRadius = 10; duration = 208; initialDepth = 1105.779299; finalDepth = 1098.154812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4810564279871 # Actual altitude: 59.4810564279871 # Commanded vehicle depth:1098.15481157201 # Seafloor depth:-1157.635868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 237.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 237.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1155.779299 meters looking forward 0.000000 meters along route # Maximum depth: 1155.779299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.779299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700278; longitude = -122.012514; captureRadius = 10; duration = 208; initialDepth = 1099.475319; finalDepth = 1105.779299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4810564279871 # Actual altitude: 59.4810564279871 # Commanded vehicle depth:1105.779299 # Seafloor depth:-1155.779299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 237.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 237.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1149.475319 meters looking forward 0.000000 meters along route # Maximum depth: 1149.475319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.475319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700999; longitude = -122.011830; captureRadius = 10; duration = 208; initialDepth = 1107.975826; finalDepth = 1099.475319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.475319 # Seafloor depth:-1149.475319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1157.975826 meters looking forward 0.000000 meters along route # Maximum depth: 1157.975826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.975826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701721; longitude = -122.011147; captureRadius = 10; duration = 208; initialDepth = 1089.678260; finalDepth = 1107.975826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.975826 # Seafloor depth:-1157.975826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1139.678260 meters looking forward 0.000000 meters along route # Maximum depth: 1139.678260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.678260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702442; longitude = -122.010464; captureRadius = 10; duration = 208; initialDepth = 1008.926295; finalDepth = 1089.678260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.67826 # Seafloor depth:-1139.678260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1058.926295 meters looking forward 0.000000 meters along route # Maximum depth: 1058.926295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.926295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703164; longitude = -122.009781; captureRadius = 10; duration = 208; initialDepth = 981.633393; finalDepth = 1008.926295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.926295 # Seafloor depth:-1058.926295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.214960 meters # Minimum depth: 1031.633393 meters looking forward 0.000000 meters along route # Maximum depth: 1031.633393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.633393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703888; longitude = -122.009095; captureRadius = 10; duration = 208; initialDepth = 953.400192; finalDepth = 981.633393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.633393 # Seafloor depth:-1031.633393 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 104.214960 meters # Minimum depth: 1003.400192 meters looking forward 0.000000 meters along route # Maximum depth: 1003.400192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.400192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704637; longitude = -122.008386; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 962.102636; finalDepth = 953.400192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.400192 # Seafloor depth:-1003.400192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1012.102636 meters looking forward 0.000000 meters along route # Maximum depth: 1012.102636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.102636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705870; longitude = -122.007744; captureRadius = 10; duration = 208; initialDepth = 1009.409182; finalDepth = 962.102636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.102636 # Seafloor depth:-1012.102636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1059.409182 meters looking forward 0.000000 meters along route # Maximum depth: 1059.409182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.409182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706714; longitude = -122.007304; captureRadius = 10; duration = 208; initialDepth = 995.968248; finalDepth = 1009.409182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.409182 # Seafloor depth:-1059.409182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1045.968248 meters looking forward 0.000000 meters along route # Maximum depth: 1045.968248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.968248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707584; longitude = -122.006851; captureRadius = 10; duration = 208; initialDepth = 1016.929906; finalDepth = 995.968248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.968248 # Seafloor depth:-1045.968248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1066.929906 meters looking forward 0.000000 meters along route # Maximum depth: 1066.929906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.929906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708433; longitude = -122.006409; captureRadius = 10; duration = 208; initialDepth = 1076.984350; finalDepth = 1016.929906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.929906 # Seafloor depth:-1066.929906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1138.823698 meters looking forward 0.000000 meters along route # Maximum depth: 1138.823698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.984350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709298; longitude = -122.005958; captureRadius = 10; duration = 208; initialDepth = 1049.985402; finalDepth = 1076.984350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8393482158347 # Actual altitude: 61.8393482158347 # Commanded vehicle depth:1076.98434978417 # Seafloor depth:-1138.823698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 247.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 247.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1099.985402 meters looking forward 0.000000 meters along route # Maximum depth: 1099.985402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.985402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710200; longitude = -122.005489; captureRadius = 10; duration = 208; initialDepth = 1009.719576; finalDepth = 1049.985402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8393482158347 # Actual altitude: 61.8393482158347 # Commanded vehicle depth:1049.985402 # Seafloor depth:-1099.985402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 247.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 247.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1059.719576 meters looking forward 0.000000 meters along route # Maximum depth: 1059.719576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.719576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711102; longitude = -122.005019; captureRadius = 10; duration = 208; initialDepth = 992.692450; finalDepth = 1009.719576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.719576 # Seafloor depth:-1059.719576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.214960 meters # Minimum depth: 1042.692450 meters looking forward 0.000000 meters along route # Maximum depth: 1042.692450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.692450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712004; longitude = -122.004549; captureRadius = 10; duration = 208; initialDepth = 999.130310; finalDepth = 992.692450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.69245 # Seafloor depth:-1042.692450 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 104.214960 meters # Minimum depth: 1049.130310 meters looking forward 0.000000 meters along route # Maximum depth: 1049.130310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.130310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712876; longitude = -122.004095; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1053.644233; finalDepth = 999.130310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.13031 # Seafloor depth:-1049.130310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1103.644233 meters looking forward 0.000000 meters along route # Maximum depth: 1103.644233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.644233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714093; longitude = -122.003722; captureRadius = 10; duration = 208; initialDepth = 1026.969405; finalDepth = 1053.644233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.644233 # Seafloor depth:-1103.644233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1076.969405 meters looking forward 0.000000 meters along route # Maximum depth: 1076.969405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.969405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714981; longitude = -122.003450; captureRadius = 10; duration = 208; initialDepth = 1006.245512; finalDepth = 1026.969405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.969405 # Seafloor depth:-1076.969405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1056.245512 meters looking forward 0.000000 meters along route # Maximum depth: 1056.245512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.245512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715883; longitude = -122.003173; captureRadius = 10; duration = 208; initialDepth = 1026.288422; finalDepth = 1006.245512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.245512 # Seafloor depth:-1056.245512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1076.288422 meters looking forward 0.000000 meters along route # Maximum depth: 1076.288422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.288422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716785; longitude = -122.002897; captureRadius = 10; duration = 208; initialDepth = 1064.290266; finalDepth = 1026.288422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.288422 # Seafloor depth:-1076.288422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1114.290266 meters looking forward 0.000000 meters along route # Maximum depth: 1114.290266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.290266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717687; longitude = -122.002620; captureRadius = 10; duration = 208; initialDepth = 1033.052925; finalDepth = 1064.290266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.290266 # Seafloor depth:-1114.290266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1083.052925 meters looking forward 0.000000 meters along route # Maximum depth: 1083.052925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.052925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718589; longitude = -122.002344; captureRadius = 10; duration = 208; initialDepth = 992.981134; finalDepth = 1033.052925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.052925 # Seafloor depth:-1083.052925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.214960 meters # Minimum depth: 1042.981134 meters looking forward 0.000000 meters along route # Maximum depth: 1042.981134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.981134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719491; longitude = -122.002068; captureRadius = 10; duration = 208; initialDepth = 955.227280; finalDepth = 992.981134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.981134 # Seafloor depth:-1042.981134 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 104.214960 meters # Minimum depth: 1005.227280 meters looking forward 0.000000 meters along route # Maximum depth: 1005.227280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.227280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720423; longitude = -122.001782; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 954.128085; finalDepth = 955.227280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.22728 # Seafloor depth:-1005.227280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 1004.128085 meters looking forward 0.000000 meters along route # Maximum depth: 1004.128085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.128085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721386; longitude = -122.001758; captureRadius = 10; duration = 208; initialDepth = 930.726812; finalDepth = 954.128085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.128085 # Seafloor depth:-1004.128085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 980.726812 meters looking forward 0.000000 meters along route # Maximum depth: 980.726812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.726812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722288; longitude = -122.001736; captureRadius = 10; duration = 208; initialDepth = 915.000179; finalDepth = 930.726812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.726812 # Seafloor depth:-980.726812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 965.000179 meters looking forward 0.000000 meters along route # Maximum depth: 965.000179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.000179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723190; longitude = -122.001714; captureRadius = 10; duration = 208; initialDepth = 972.788616; finalDepth = 915.000179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.000179 # Seafloor depth:-965.000179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 1042.467716 meters looking forward 0.000000 meters along route # Maximum depth: 1042.467716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.788616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724092; longitude = -122.001692; captureRadius = 10; duration = 208; initialDepth = 967.448037; finalDepth = 972.788616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6791000222706 # Actual altitude: 69.6791000222706 # Commanded vehicle depth:972.788615977729 # Seafloor depth:-1042.467716 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 278.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 278.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 1017.448037 meters looking forward 0.000000 meters along route # Maximum depth: 1017.448037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.448037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724994; longitude = -122.001670; captureRadius = 10; duration = 208; initialDepth = 966.442153; finalDepth = 967.448037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6791000222706 # Actual altitude: 69.6791000222706 # Commanded vehicle depth:967.448037 # Seafloor depth:-1017.448037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 278.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 278.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 1016.442153 meters looking forward 0.000000 meters along route # Maximum depth: 1016.442153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.442153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725896; longitude = -122.001647; captureRadius = 10; duration = 208; initialDepth = 933.300031; finalDepth = 966.442153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.442153 # Seafloor depth:-1016.442153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 983.300031 meters looking forward 0.000000 meters along route # Maximum depth: 983.300031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.300031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726798; longitude = -122.001625; captureRadius = 10; duration = 208; initialDepth = 926.180212; finalDepth = 933.300031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.300031 # Seafloor depth:-983.300031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 976.180212 meters looking forward 0.000000 meters along route # Maximum depth: 976.180212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.180212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727700; longitude = -122.001603; captureRadius = 10; duration = 208; initialDepth = 934.748960; finalDepth = 926.180212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.180212 # Seafloor depth:-976.180212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.214960 meters # Minimum depth: 984.748960 meters looking forward 0.000000 meters along route # Maximum depth: 984.748960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.748960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728602; longitude = -122.001581; captureRadius = 10; duration = 208; initialDepth = 922.709015; finalDepth = 934.748960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.74896 # Seafloor depth:-984.748960 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.214960 meters # Minimum depth: 972.709015 meters looking forward 0.000000 meters along route # Maximum depth: 972.709015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.709015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729534; longitude = -122.001558; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 849.317154; finalDepth = 922.709015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.709015 # Seafloor depth:-972.709015 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 104.214960 meters # Minimum depth: 899.317154 meters looking forward 0.000000 meters along route # Maximum depth: 899.317154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.317154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729745; longitude = -122.000513; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 732.341006; finalDepth = 849.317154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:849.317154 # Seafloor depth:-899.317154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 782.341006 meters looking forward 0.000000 meters along route # Maximum depth: 782.341006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.341006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729826; longitude = -121.999132; captureRadius = 10; duration = 208; initialDepth = 686.023345; finalDepth = 732.341006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:732.341006 # Seafloor depth:-782.341006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 736.023345 meters looking forward 0.000000 meters along route # Maximum depth: 736.023345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.023345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729892; longitude = -121.998013; captureRadius = 10; duration = 208; initialDepth = 664.794396; finalDepth = 686.023345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:686.023345 # Seafloor depth:-736.023345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 714.794396 meters looking forward 0.000000 meters along route # Maximum depth: 714.794396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.794396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729958; longitude = -121.996893; captureRadius = 10; duration = 208; initialDepth = 651.587018; finalDepth = 664.794396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:664.794396 # Seafloor depth:-714.794396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 701.587018 meters looking forward 0.000000 meters along route # Maximum depth: 701.587018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.587018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730023; longitude = -121.995774; captureRadius = 10; duration = 208; initialDepth = 635.715622; finalDepth = 651.587018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:651.587018 # Seafloor depth:-701.587018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 685.715622 meters looking forward 0.000000 meters along route # Maximum depth: 685.715622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.715622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730089; longitude = -121.994655; captureRadius = 10; duration = 208; initialDepth = 623.584288; finalDepth = 635.715622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:635.715622 # Seafloor depth:-685.715622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 673.584288 meters looking forward 0.000000 meters along route # Maximum depth: 673.584288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.584288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730155; longitude = -121.993535; captureRadius = 10; duration = 208; initialDepth = 608.401003; finalDepth = 623.584288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:623.584288 # Seafloor depth:-673.584288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 658.401003 meters looking forward 0.000000 meters along route # Maximum depth: 658.401003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.401003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730220; longitude = -121.992416; captureRadius = 10; duration = 208; initialDepth = 583.308021; finalDepth = 608.401003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:608.401003 # Seafloor depth:-658.401003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 633.308021 meters looking forward 0.000000 meters along route # Maximum depth: 633.308021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.308021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730286; longitude = -121.991296; captureRadius = 10; duration = 208; initialDepth = 539.045044; finalDepth = 583.308021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:583.308021 # Seafloor depth:-633.308021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 589.045044 meters looking forward 0.000000 meters along route # Maximum depth: 589.045044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.045044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730352; longitude = -121.990177; captureRadius = 10; duration = 208; initialDepth = 510.401291; finalDepth = 539.045044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:539.045044 # Seafloor depth:-589.045044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 560.401291 meters looking forward 0.000000 meters along route # Maximum depth: 560.401291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.401291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730418; longitude = -121.989057; captureRadius = 10; duration = 208; initialDepth = 476.159634; finalDepth = 510.401291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:510.401291 # Seafloor depth:-560.401291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 526.159634 meters looking forward 0.000000 meters along route # Maximum depth: 526.159634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.159634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730483; longitude = -121.987938; captureRadius = 10; duration = 208; initialDepth = 442.708049; finalDepth = 476.159634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.159634 # Seafloor depth:-526.159634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.214960 meters # Minimum depth: 492.708049 meters looking forward 0.000000 meters along route # Maximum depth: 492.708049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.708049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730549; longitude = -121.986818; captureRadius = 10; duration = 208; initialDepth = 421.503036; finalDepth = 442.708049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:442.708049 # Seafloor depth:-492.708049 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 104.214960 meters # Minimum depth: 471.503036 meters looking forward 0.000000 meters along route # Maximum depth: 471.503036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.503036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730617; longitude = -121.985662; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 381.235070; finalDepth = 421.503036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:421.503036 # Seafloor depth:-471.503036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 431.235070 meters looking forward 0.000000 meters along route # Maximum depth: 431.235070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.235070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730432; longitude = -121.984132; captureRadius = 10; duration = 208; initialDepth = 356.024913; finalDepth = 381.235070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:381.23507 # Seafloor depth:-431.235070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 406.024913 meters looking forward 0.000000 meters along route # Maximum depth: 406.024913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.024913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730296; longitude = -121.983012; captureRadius = 10; duration = 208; initialDepth = 329.337551; finalDepth = 356.024913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:356.024913 # Seafloor depth:-406.024913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 379.337551 meters looking forward 0.000000 meters along route # Maximum depth: 379.337551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.337551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730161; longitude = -121.981893; captureRadius = 10; duration = 208; initialDepth = 304.449009; finalDepth = 329.337551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:329.337551 # Seafloor depth:-379.337551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 354.449009 meters looking forward 0.000000 meters along route # Maximum depth: 354.449009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.449009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730026; longitude = -121.980773; captureRadius = 10; duration = 208; initialDepth = 279.804007; finalDepth = 304.449009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:304.449009 # Seafloor depth:-354.449009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 329.804007 meters looking forward 0.000000 meters along route # Maximum depth: 329.804007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.804007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729890; longitude = -121.979654; captureRadius = 10; duration = 208; initialDepth = 255.795428; finalDepth = 279.804007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:279.804007 # Seafloor depth:-329.804007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 305.795428 meters looking forward 0.000000 meters along route # Maximum depth: 305.795428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.795428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729755; longitude = -121.978534; captureRadius = 10; duration = 208; initialDepth = 229.444446; finalDepth = 255.795428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:255.795428 # Seafloor depth:-305.795428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 279.444446 meters looking forward 0.000000 meters along route # Maximum depth: 279.444446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.444446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729619; longitude = -121.977415; captureRadius = 10; duration = 208; initialDepth = 203.058819; finalDepth = 229.444446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:229.444446 # Seafloor depth:-279.444446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 253.058819 meters looking forward 0.000000 meters along route # Maximum depth: 253.058819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.058819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729484; longitude = -121.976296; captureRadius = 10; duration = 208; initialDepth = 176.795447; finalDepth = 203.058819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:203.058819 # Seafloor depth:-253.058819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 226.795447 meters looking forward 0.000000 meters along route # Maximum depth: 226.795447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.795447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729348; longitude = -121.975176; captureRadius = 10; duration = 208; initialDepth = 150.315189; finalDepth = 176.795447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:176.795447 # Seafloor depth:-226.795447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 200.315189 meters looking forward 0.000000 meters along route # Maximum depth: 200.315189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.315189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729213; longitude = -121.974057; captureRadius = 10; duration = 208; initialDepth = 125.242256; finalDepth = 150.315189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:150.315189 # Seafloor depth:-200.315189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 175.242256 meters looking forward 0.000000 meters along route # Maximum depth: 175.242256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.242256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729077; longitude = -121.972937; captureRadius = 10; duration = 208; initialDepth = 96.505253; finalDepth = 125.242256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:125.242256 # Seafloor depth:-175.242256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 146.505253 meters looking forward 0.000000 meters along route # Maximum depth: 146.505253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.505253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728942; longitude = -121.971818; captureRadius = 10; duration = 208; initialDepth = 81.154696; finalDepth = 96.505253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:96.505253 # Seafloor depth:-146.505253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.214960 meters # Minimum depth: 131.154696 meters looking forward 0.000000 meters along route # Maximum depth: 131.154696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.154696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728807; longitude = -121.970698; captureRadius = 10; duration = 208; initialDepth = 73.598293; finalDepth = 81.154696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:81.154696 # Seafloor depth:-131.154696 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 104.214960 meters # Minimum depth: 123.598293 meters looking forward 0.000000 meters along route # Maximum depth: 123.598293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.598293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728662; longitude = -121.969504; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 66.494236; finalDepth = 73.598293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:73.598293 # Seafloor depth:-123.598293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.214960 meters # Minimum depth: 116.494236 meters looking forward 0.000000 meters along route # Maximum depth: 116.494236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.494236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728213; longitude = -121.967676; captureRadius = 10; duration = 208; initialDepth = 65.822425; finalDepth = 66.494236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:66.494236 # Seafloor depth:-116.494236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.214960 meters # Minimum depth: 115.822425 meters looking forward 0.000000 meters along route # Maximum depth: 115.822425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.822425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727938; longitude = -121.966556; captureRadius = 10; duration = 208; initialDepth = 63.819976; finalDepth = 65.822425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:65.822425 # Seafloor depth:-115.822425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.214960 meters # Minimum depth: 113.819976 meters looking forward 0.000000 meters along route # Maximum depth: 113.819976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.819976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727662; longitude = -121.965437; captureRadius = 10; duration = 208; initialDepth = 61.779132; finalDepth = 63.819976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:63.819976 # Seafloor depth:-113.819976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.214960 meters # Minimum depth: 111.779132 meters looking forward 0.000000 meters along route # Maximum depth: 111.779132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.779132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727387; longitude = -121.964317; captureRadius = 10; duration = 208; initialDepth = 59.273055; finalDepth = 61.779132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:61.779132 # Seafloor depth:-111.779132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.214960 meters # Minimum depth: 109.273055 meters looking forward 0.000000 meters along route # Maximum depth: 109.273055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.273055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727112; longitude = -121.963198; captureRadius = 10; duration = 208; initialDepth = 58.105764; finalDepth = 59.273055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:59.273055 # Seafloor depth:-109.273055 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 104.214960 meters # Minimum depth: 108.105764 meters looking forward 0.000000 meters along route # Maximum depth: 108.105764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.105764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726828; longitude = -121.962041; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 56.271182; finalDepth = 58.105764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:58.105764 # Seafloor depth:-108.105764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.214960 meters # Minimum depth: 106.271182 meters looking forward 0.000000 meters along route # Maximum depth: 106.271182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.271182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726677; longitude = -121.960623; captureRadius = 10; duration = 208; initialDepth = 55.943682; finalDepth = 56.271182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:56.271182 # Seafloor depth:-106.271182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.214960 meters # Minimum depth: 105.943682 meters looking forward 0.000000 meters along route # Maximum depth: 105.943682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.943682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726558; longitude = -121.959504; captureRadius = 10; duration = 208; initialDepth = 56.364507; finalDepth = 55.943682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:55.943682 # Seafloor depth:-105.943682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.214960 meters # Minimum depth: 106.364507 meters looking forward 0.000000 meters along route # Maximum depth: 106.364507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.364507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726439; longitude = -121.958384; captureRadius = 10; duration = 208; initialDepth = 56.123658; finalDepth = 56.364507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:56.364507 # Seafloor depth:-106.364507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.214960 meters # Minimum depth: 106.123658 meters looking forward 0.000000 meters along route # Maximum depth: 106.123658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.123658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726320; longitude = -121.957265; captureRadius = 10; duration = 208; initialDepth = 56.412254; finalDepth = 56.123658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:56.123658 # Seafloor depth:-106.123658 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:56.412254 # Seafloor depth:-106.412254 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 104.214960 meters # Minimum depth: 106.412254 meters looking forward 0.000000 meters along route # Maximum depth: 106.412254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1456.159698 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.412254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726197; longitude = -121.956108; captureRadius = 10; duration = 600; initialDepth = 56.412254; finalDepth = 56.412254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 290.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 290.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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