# 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: PortugueseLedge_1v4.rte # Mission File: PortugueseLedge_1v4.cfg # Distance: 35101.731456 (m) # Estimated Time: 25156 (s) 6.988 (hr) # Abort Time: 32703 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 14 # Route Points: 684 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 343.255032 (m) # Abort Vehicle Depth: 368.255032 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.930946 36.696736 -97.303658 0.000000 3 # 1 -121.982829 36.714283 -231.555054 5026.811703 4 # 2 -121.983479 36.713036 -244.182510 5176.841127 3 # 3 -121.931596 36.695489 -97.585815 10203.721052 4 # 4 -121.932247 36.694243 -97.577103 10353.689466 3 # 5 -121.984129 36.711790 -258.264832 15380.555194 4 # 6 -121.984779 36.710543 -299.842575 15530.585253 3 # 7 -121.932897 36.692996 -97.654005 20557.519198 4 # 8 -121.933548 36.691750 -97.039959 20707.488247 3 # 9 -121.985429 36.709296 -365.290840 25734.365056 4 # 10 -121.986079 36.708049 -360.671570 25884.395750 3 # 11 -121.934130 36.690505 -96.487793 30916.874498 4 # 12 -121.944354 36.700398 -98.947184 32344.745325 3 # 13 -121.974990 36.703405 -118.331533 35101.731456 4 # # A total of 684 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 21600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 343.255032; abortDepth = 368.255032; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 55.384171 meters # Minimum depth: 118.331533 meters looking forward 0.000000 meters along route # Maximum depth: 118.331533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.331533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703405; longitude = -121.974990; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 78.070119; finalDepth = 78.331533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.331533 # Seafloor depth:-118.331533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 118.070119 meters looking forward 0.000000 meters along route # Maximum depth: 118.070119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.070119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703368; longitude = -121.974616; captureRadius = 10; duration = 55; initialDepth = 76.952435; finalDepth = 78.070119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.070119 # Seafloor depth:-118.070119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 116.952435 meters looking forward 0.000000 meters along route # Maximum depth: 116.952435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.952435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703313; longitude = -121.974057; captureRadius = 10; duration = 55; initialDepth = 75.382939; finalDepth = 76.952435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.952435 # Seafloor depth:-116.952435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 115.382939 meters looking forward 0.000000 meters along route # Maximum depth: 115.382939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.382939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703258; longitude = -121.973497; captureRadius = 10; duration = 55; initialDepth = 72.718787; finalDepth = 75.382939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.382939 # Seafloor depth:-115.382939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 112.718787 meters looking forward 0.000000 meters along route # Maximum depth: 112.718787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.718787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703203; longitude = -121.972937; captureRadius = 10; duration = 55; initialDepth = 71.200398; finalDepth = 72.718787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.718787 # Seafloor depth:-112.718787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 111.200398 meters looking forward 0.000000 meters along route # Maximum depth: 111.200398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.200398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703148; longitude = -121.972377; captureRadius = 10; duration = 55; initialDepth = 70.404741; finalDepth = 71.200398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.200398 # Seafloor depth:-111.200398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 110.404741 meters looking forward 0.000000 meters along route # Maximum depth: 110.404741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.404741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703093; longitude = -121.971818; captureRadius = 10; duration = 55; initialDepth = 69.869967; finalDepth = 70.404741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.404741 # Seafloor depth:-110.404741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 109.869967 meters looking forward 0.000000 meters along route # Maximum depth: 109.869967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.869967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703038; longitude = -121.971258; captureRadius = 10; duration = 55; initialDepth = 69.690390; finalDepth = 69.869967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.869967 # Seafloor depth:-109.869967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 109.690390 meters looking forward 0.000000 meters along route # Maximum depth: 109.690390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.690390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702983; longitude = -121.970698; captureRadius = 10; duration = 55; initialDepth = 68.886901; finalDepth = 69.690390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.69039 # Seafloor depth:-109.690390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 108.886901 meters looking forward 0.000000 meters along route # Maximum depth: 108.886901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.886901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702929; longitude = -121.970139; captureRadius = 10; duration = 55; initialDepth = 68.162713; finalDepth = 68.886901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.886901 # Seafloor depth:-108.886901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 108.162713 meters looking forward 0.000000 meters along route # Maximum depth: 108.162713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.162713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702874; longitude = -121.969579; captureRadius = 10; duration = 55; initialDepth = 66.825021; finalDepth = 68.162713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.162713 # Seafloor depth:-108.162713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 106.825021 meters looking forward 0.000000 meters along route # Maximum depth: 106.825021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.825021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702819; longitude = -121.969019; captureRadius = 10; duration = 55; initialDepth = 66.595448; finalDepth = 66.825021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.825021 # Seafloor depth:-106.825021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 106.595448 meters looking forward 0.000000 meters along route # Maximum depth: 106.595448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.595448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702764; longitude = -121.968459; captureRadius = 10; duration = 55; initialDepth = 66.163160; finalDepth = 66.595448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.595448 # Seafloor depth:-106.595448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 106.163160 meters looking forward 0.000000 meters along route # Maximum depth: 106.163160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.163160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702709; longitude = -121.967900; captureRadius = 10; duration = 55; initialDepth = 66.402489; finalDepth = 66.163160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.16316 # Seafloor depth:-106.163160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 106.402489 meters looking forward 0.000000 meters along route # Maximum depth: 106.402489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.402489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702654; longitude = -121.967340; captureRadius = 10; duration = 55; initialDepth = 66.002998; finalDepth = 66.402489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.402489 # Seafloor depth:-106.402489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 106.002998 meters looking forward 0.000000 meters along route # Maximum depth: 106.002998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.002998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702599; longitude = -121.966780; captureRadius = 10; duration = 55; initialDepth = 65.634428; finalDepth = 66.002998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.002998 # Seafloor depth:-106.002998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 105.634428 meters looking forward 0.000000 meters along route # Maximum depth: 105.634428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.634428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702544; longitude = -121.966221; captureRadius = 10; duration = 55; initialDepth = 65.187616; finalDepth = 65.634428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.634428 # Seafloor depth:-105.634428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 105.187616 meters looking forward 0.000000 meters along route # Maximum depth: 105.187616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.187616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702489; longitude = -121.965661; captureRadius = 10; duration = 55; initialDepth = 64.952320; finalDepth = 65.187616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.187616 # Seafloor depth:-105.187616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 104.952320 meters looking forward 0.000000 meters along route # Maximum depth: 104.952320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.952320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702434; longitude = -121.965101; captureRadius = 10; duration = 55; initialDepth = 64.480380; finalDepth = 64.952320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.95232 # Seafloor depth:-104.952320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 104.480380 meters looking forward 0.000000 meters along route # Maximum depth: 104.480380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.480380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702379; longitude = -121.964541; captureRadius = 10; duration = 55; initialDepth = 64.614043; finalDepth = 64.480380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.48038 # Seafloor depth:-104.480380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 104.614043 meters looking forward 0.000000 meters along route # Maximum depth: 104.614043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.614043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702324; longitude = -121.963982; captureRadius = 10; duration = 55; initialDepth = 64.806479; finalDepth = 64.614043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.614043 # Seafloor depth:-104.614043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 104.806479 meters looking forward 0.000000 meters along route # Maximum depth: 104.806479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.806479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702269; longitude = -121.963422; captureRadius = 10; duration = 55; initialDepth = 65.055126; finalDepth = 64.806479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.806479 # Seafloor depth:-104.806479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 105.055126 meters looking forward 0.000000 meters along route # Maximum depth: 105.055126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.055126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702214; longitude = -121.962862; captureRadius = 10; duration = 55; initialDepth = 64.876015; finalDepth = 65.055126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.055126 # Seafloor depth:-105.055126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 104.876015 meters looking forward 0.000000 meters along route # Maximum depth: 104.876015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.876015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702159; longitude = -121.962302; captureRadius = 10; duration = 55; initialDepth = 63.904274; finalDepth = 64.876015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.876015 # Seafloor depth:-104.876015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.904274 meters looking forward 0.000000 meters along route # Maximum depth: 103.904274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.904274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702105; longitude = -121.961743; captureRadius = 10; duration = 55; initialDepth = 63.485461; finalDepth = 63.904274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.904274 # Seafloor depth:-103.904274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.485461 meters looking forward 0.000000 meters along route # Maximum depth: 103.485461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.485461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702050; longitude = -121.961183; captureRadius = 10; duration = 55; initialDepth = 63.362558; finalDepth = 63.485461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.485461 # Seafloor depth:-103.485461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.362558 meters looking forward 0.000000 meters along route # Maximum depth: 103.362558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.362558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701995; longitude = -121.960623; captureRadius = 10; duration = 55; initialDepth = 62.842973; finalDepth = 63.362558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.362558 # Seafloor depth:-103.362558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.842973 meters looking forward 0.000000 meters along route # Maximum depth: 102.842973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.842973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701940; longitude = -121.960064; captureRadius = 10; duration = 55; initialDepth = 62.573008; finalDepth = 62.842973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.842973 # Seafloor depth:-102.842973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.573008 meters looking forward 0.000000 meters along route # Maximum depth: 102.573008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.573008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701885; longitude = -121.959504; captureRadius = 10; duration = 55; initialDepth = 62.862018; finalDepth = 62.573008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.573008 # Seafloor depth:-102.573008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.862018 meters looking forward 0.000000 meters along route # Maximum depth: 102.862018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.862018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701830; longitude = -121.958944; captureRadius = 10; duration = 55; initialDepth = 63.307192; finalDepth = 62.862018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.862018 # Seafloor depth:-102.862018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.307192 meters looking forward 0.000000 meters along route # Maximum depth: 103.307192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.307192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701775; longitude = -121.958384; captureRadius = 10; duration = 55; initialDepth = 62.909847; finalDepth = 63.307192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.307192 # Seafloor depth:-103.307192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.909847 meters looking forward 0.000000 meters along route # Maximum depth: 102.909847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.909847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701720; longitude = -121.957825; captureRadius = 10; duration = 55; initialDepth = 62.951764; finalDepth = 62.909847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.909847 # Seafloor depth:-102.909847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.951764 meters looking forward 0.000000 meters along route # Maximum depth: 102.951764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.951764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701665; longitude = -121.957265; captureRadius = 10; duration = 55; initialDepth = 63.039705; finalDepth = 62.951764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.951764 # Seafloor depth:-102.951764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.039705 meters looking forward 0.000000 meters along route # Maximum depth: 103.039705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.039705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701610; longitude = -121.956705; captureRadius = 10; duration = 55; initialDepth = 63.046594; finalDepth = 63.039705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.039705 # Seafloor depth:-103.039705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.046594 meters looking forward 0.000000 meters along route # Maximum depth: 103.046594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.046594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701555; longitude = -121.956145; captureRadius = 10; duration = 55; initialDepth = 63.078634; finalDepth = 63.046594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.046594 # Seafloor depth:-103.046594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 103.078634 meters looking forward 0.000000 meters along route # Maximum depth: 103.078634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.078634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701500; longitude = -121.955586; captureRadius = 10; duration = 55; initialDepth = 62.421975; finalDepth = 63.078634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.078634 # Seafloor depth:-103.078634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 102.421975 meters looking forward 0.000000 meters along route # Maximum depth: 102.421975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.421975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701445; longitude = -121.955026; captureRadius = 10; duration = 55; initialDepth = 61.828428; finalDepth = 62.421975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.421975 # Seafloor depth:-102.421975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.828428 meters looking forward 0.000000 meters along route # Maximum depth: 101.828428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.828428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701390; longitude = -121.954466; captureRadius = 10; duration = 55; initialDepth = 61.695345; finalDepth = 61.828428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.828428 # Seafloor depth:-101.828428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.695345 meters looking forward 0.000000 meters along route # Maximum depth: 101.695345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.695345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701335; longitude = -121.953907; captureRadius = 10; duration = 55; initialDepth = 61.538166; finalDepth = 61.695345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.695345 # Seafloor depth:-101.695345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.538166 meters looking forward 0.000000 meters along route # Maximum depth: 101.538166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.538166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701280; longitude = -121.953347; captureRadius = 10; duration = 55; initialDepth = 61.470527; finalDepth = 61.538166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.538166 # Seafloor depth:-101.538166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.470527 meters looking forward 0.000000 meters along route # Maximum depth: 101.470527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.470527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701226; longitude = -121.952787; captureRadius = 10; duration = 55; initialDepth = 61.492573; finalDepth = 61.470527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.470527 # Seafloor depth:-101.470527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.492573 meters looking forward 0.000000 meters along route # Maximum depth: 101.492573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.492573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701171; longitude = -121.952227; captureRadius = 10; duration = 55; initialDepth = 61.402869; finalDepth = 61.492573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.492573 # Seafloor depth:-101.492573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 101.402869 meters looking forward 0.000000 meters along route # Maximum depth: 101.402869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.402869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701116; longitude = -121.951668; captureRadius = 10; duration = 55; initialDepth = 60.972063; finalDepth = 61.402869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.402869 # Seafloor depth:-101.402869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.972063 meters looking forward 0.000000 meters along route # Maximum depth: 100.972063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.972063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701061; longitude = -121.951108; captureRadius = 10; duration = 55; initialDepth = 60.816600; finalDepth = 60.972063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.972063 # Seafloor depth:-100.972063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.816600 meters looking forward 0.000000 meters along route # Maximum depth: 100.816600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.816600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701006; longitude = -121.950548; captureRadius = 10; duration = 55; initialDepth = 60.910455; finalDepth = 60.816600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.8166 # Seafloor depth:-100.816600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.910455 meters looking forward 0.000000 meters along route # Maximum depth: 100.910455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.910455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700951; longitude = -121.949988; captureRadius = 10; duration = 55; initialDepth = 60.970222; finalDepth = 60.910455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.910455 # Seafloor depth:-100.910455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.970222 meters looking forward 0.000000 meters along route # Maximum depth: 100.970222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.970222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700896; longitude = -121.949429; captureRadius = 10; duration = 55; initialDepth = 60.735487; finalDepth = 60.970222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.970222 # Seafloor depth:-100.970222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.735487 meters looking forward 0.000000 meters along route # Maximum depth: 100.735487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.735487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700841; longitude = -121.948869; captureRadius = 10; duration = 55; initialDepth = 60.446242; finalDepth = 60.735487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.735487 # Seafloor depth:-100.735487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 100.446242 meters looking forward 0.000000 meters along route # Maximum depth: 100.446242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.446242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700786; longitude = -121.948309; captureRadius = 10; duration = 55; initialDepth = 59.885774; finalDepth = 60.446242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.446242 # Seafloor depth:-100.446242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.885774 meters looking forward 0.000000 meters along route # Maximum depth: 99.885774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.885774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700731; longitude = -121.947750; captureRadius = 10; duration = 55; initialDepth = 59.518779; finalDepth = 59.885774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.885774 # Seafloor depth:-99.885774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.518779 meters looking forward 0.000000 meters along route # Maximum depth: 99.518779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.518779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700676; longitude = -121.947190; captureRadius = 10; duration = 55; initialDepth = 59.243456; finalDepth = 59.518779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.518779 # Seafloor depth:-99.518779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.243456 meters looking forward 0.000000 meters along route # Maximum depth: 99.243456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.243456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700621; longitude = -121.946630; captureRadius = 10; duration = 55; initialDepth = 59.579058; finalDepth = 59.243456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.243456 # Seafloor depth:-99.243456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.579058 meters looking forward 0.000000 meters along route # Maximum depth: 99.579058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.579058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700566; longitude = -121.946070; captureRadius = 10; duration = 55; initialDepth = 59.369746; finalDepth = 59.579058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.579058 # Seafloor depth:-99.579058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.369746 meters looking forward 0.000000 meters along route # Maximum depth: 99.369746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.369746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700511; longitude = -121.945511; captureRadius = 10; duration = 55; initialDepth = 59.400000; finalDepth = 59.369746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.369746 # Seafloor depth:-99.369746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.384171 meters # Minimum depth: 99.400000 meters looking forward 0.000000 meters along route # Maximum depth: 99.400000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.400000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700456; longitude = -121.944951; captureRadius = 10; duration = 55; initialDepth = 58.947184; finalDepth = 59.400000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.4 # Seafloor depth:-99.400000 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 55.384171 meters # Minimum depth: 98.947184 meters looking forward 0.000000 meters along route # Maximum depth: 98.947184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.947184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700398; longitude = -121.944354; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 58.687716; finalDepth = 58.947184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.947184 # Seafloor depth:-98.947184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 98.687716 meters looking forward 0.000000 meters along route # Maximum depth: 98.687716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.687716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700278; longitude = -121.944230; captureRadius = 10; duration = 55; initialDepth = 58.102755; finalDepth = 58.687716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.687716 # Seafloor depth:-98.687716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 98.102755 meters looking forward 0.000000 meters along route # Maximum depth: 98.102755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.102755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699917; longitude = -121.943857; captureRadius = 10; duration = 55; initialDepth = 57.377734; finalDepth = 58.102755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.102755 # Seafloor depth:-98.102755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 97.377734 meters looking forward 0.000000 meters along route # Maximum depth: 97.377734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.377734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699556; longitude = -121.943484; captureRadius = 10; duration = 55; initialDepth = 56.198041; finalDepth = 57.377734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.377734 # Seafloor depth:-97.377734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.198041 meters looking forward 0.000000 meters along route # Maximum depth: 96.198041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.198041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699195; longitude = -121.943111; captureRadius = 10; duration = 55; initialDepth = 54.783762; finalDepth = 56.198041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.198041 # Seafloor depth:-96.198041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 94.783762 meters looking forward 0.000000 meters along route # Maximum depth: 94.783762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.783762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698834; longitude = -121.942738; captureRadius = 10; duration = 55; initialDepth = 52.305626; finalDepth = 54.783762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.783762 # Seafloor depth:-94.783762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 92.305626 meters looking forward 0.000000 meters along route # Maximum depth: 92.305626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.305626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698473; longitude = -121.942365; captureRadius = 10; duration = 55; initialDepth = 50.018286; finalDepth = 52.305626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.305626 # Seafloor depth:-92.305626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 90.018286 meters looking forward 0.000000 meters along route # Maximum depth: 90.018286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.018286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698113; longitude = -121.941992; captureRadius = 10; duration = 55; initialDepth = 49.821374; finalDepth = 50.018286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.018286 # Seafloor depth:-90.018286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 89.821374 meters looking forward 0.000000 meters along route # Maximum depth: 89.821374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.821374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697752; longitude = -121.941619; captureRadius = 10; duration = 55; initialDepth = 48.899384; finalDepth = 49.821374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.821374 # Seafloor depth:-89.821374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 88.899384 meters looking forward 0.000000 meters along route # Maximum depth: 88.899384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.899384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697391; longitude = -121.941246; captureRadius = 10; duration = 55; initialDepth = 49.822171; finalDepth = 48.899384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.899384 # Seafloor depth:-88.899384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 89.822171 meters looking forward 0.000000 meters along route # Maximum depth: 89.822171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.822171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697030; longitude = -121.940873; captureRadius = 10; duration = 55; initialDepth = 49.358901; finalDepth = 49.822171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.822171 # Seafloor depth:-89.822171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 89.358901 meters looking forward 0.000000 meters along route # Maximum depth: 89.358901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.358901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696669; longitude = -121.940500; captureRadius = 10; duration = 55; initialDepth = 48.691580; finalDepth = 49.358901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.358901 # Seafloor depth:-89.358901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 88.691580 meters looking forward 0.000000 meters along route # Maximum depth: 88.691580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.691580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696309; longitude = -121.940127; captureRadius = 10; duration = 55; initialDepth = 46.656737; finalDepth = 48.691580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.69158 # Seafloor depth:-88.691580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 86.656737 meters looking forward 0.000000 meters along route # Maximum depth: 86.656737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.656737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695948; longitude = -121.939755; captureRadius = 10; duration = 55; initialDepth = 45.109571; finalDepth = 46.656737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.656737 # Seafloor depth:-86.656737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 85.109571 meters looking forward 0.000000 meters along route # Maximum depth: 85.109571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.109571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695587; longitude = -121.939382; captureRadius = 10; duration = 55; initialDepth = 44.342484; finalDepth = 45.109571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:45.109571 # Seafloor depth:-85.109571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 84.342484 meters looking forward 0.000000 meters along route # Maximum depth: 84.342484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.342484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695226; longitude = -121.939009; captureRadius = 10; duration = 55; initialDepth = 44.751964; finalDepth = 44.342484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.342484 # Seafloor depth:-84.342484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 84.751964 meters looking forward 0.000000 meters along route # Maximum depth: 84.751964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.751964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694865; longitude = -121.938636; captureRadius = 10; duration = 55; initialDepth = 51.306500; finalDepth = 44.751964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.751964 # Seafloor depth:-84.751964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 91.306500 meters looking forward 0.000000 meters along route # Maximum depth: 91.306500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.306500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694504; longitude = -121.938263; captureRadius = 10; duration = 55; initialDepth = 55.567153; finalDepth = 51.306500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.3065 # Seafloor depth:-91.306500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 95.567153 meters looking forward 0.000000 meters along route # Maximum depth: 95.567153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.567153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694144; longitude = -121.937890; captureRadius = 10; duration = 55; initialDepth = 56.316278; finalDepth = 55.567153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.567153 # Seafloor depth:-95.567153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.316278 meters looking forward 0.000000 meters along route # Maximum depth: 96.316278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.316278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693783; longitude = -121.937517; captureRadius = 10; duration = 55; initialDepth = 55.976567; finalDepth = 56.316278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.316278 # Seafloor depth:-96.316278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 95.976567 meters looking forward 0.000000 meters along route # Maximum depth: 95.976567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.976567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693422; longitude = -121.937144; captureRadius = 10; duration = 55; initialDepth = 56.125719; finalDepth = 55.976567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.976567 # Seafloor depth:-95.976567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.125719 meters looking forward 0.000000 meters along route # Maximum depth: 96.125719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.125719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693061; longitude = -121.936771; captureRadius = 10; duration = 55; initialDepth = 56.185605; finalDepth = 56.125719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.125719 # Seafloor depth:-96.125719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.185605 meters looking forward 0.000000 meters along route # Maximum depth: 96.185605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.185605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692700; longitude = -121.936398; captureRadius = 10; duration = 55; initialDepth = 56.733786; finalDepth = 56.185605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.185605 # Seafloor depth:-96.185605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.733786 meters looking forward 0.000000 meters along route # Maximum depth: 96.733786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.733786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692339; longitude = -121.936025; captureRadius = 10; duration = 55; initialDepth = 56.525572; finalDepth = 56.733786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.733786 # Seafloor depth:-96.733786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.525572 meters looking forward 0.000000 meters along route # Maximum depth: 96.525572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.525572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691979; longitude = -121.935652; captureRadius = 10; duration = 55; initialDepth = 56.691942; finalDepth = 56.525572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.525572 # Seafloor depth:-96.525572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.691942 meters looking forward 0.000000 meters along route # Maximum depth: 96.691942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.691942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691618; longitude = -121.935279; captureRadius = 10; duration = 55; initialDepth = 56.824713; finalDepth = 56.691942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.691942 # Seafloor depth:-96.691942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.824713 meters looking forward 0.000000 meters along route # Maximum depth: 96.824713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.824713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691257; longitude = -121.934907; captureRadius = 10; duration = 55; initialDepth = 56.923956; finalDepth = 56.824713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.824713 # Seafloor depth:-96.824713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.384171 meters # Minimum depth: 96.923956 meters looking forward 0.000000 meters along route # Maximum depth: 96.923956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.923956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690896; longitude = -121.934534; captureRadius = 10; duration = 55; initialDepth = 56.487793; finalDepth = 56.923956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.923956 # Seafloor depth:-96.923956 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 55.384171 meters # Minimum depth: 96.487793 meters looking forward 0.000000 meters along route # Maximum depth: 96.487793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.487793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690505; longitude = -121.934130; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 56.593908; finalDepth = 56.487793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.487793 # Seafloor depth:-96.487793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.593908 meters looking forward 0.000000 meters along route # Maximum depth: 96.593908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.593908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690535; longitude = -121.934219; captureRadius = 10; duration = 55; initialDepth = 56.805793; finalDepth = 56.593908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.593908 # Seafloor depth:-96.593908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.805793 meters looking forward 0.000000 meters along route # Maximum depth: 96.805793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.805793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690720; longitude = -121.934764; captureRadius = 10; duration = 55; initialDepth = 56.681423; finalDepth = 56.805793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.805793 # Seafloor depth:-96.805793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.681423 meters looking forward 0.000000 meters along route # Maximum depth: 96.681423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.681423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690896; longitude = -121.935287; captureRadius = 10; duration = 55; initialDepth = 56.565017; finalDepth = 56.681423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.681423 # Seafloor depth:-96.681423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.565017 meters looking forward 0.000000 meters along route # Maximum depth: 96.565017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.565017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691077; longitude = -121.935821; captureRadius = 10; duration = 55; initialDepth = 56.564911; finalDepth = 56.565017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.565017 # Seafloor depth:-96.565017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.564911 meters looking forward 0.000000 meters along route # Maximum depth: 96.564911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.564911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691257; longitude = -121.936356; captureRadius = 10; duration = 55; initialDepth = 56.901673; finalDepth = 56.564911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.564911 # Seafloor depth:-96.564911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.901673 meters looking forward 0.000000 meters along route # Maximum depth: 96.901673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.901673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691438; longitude = -121.936891; captureRadius = 10; duration = 55; initialDepth = 56.437271; finalDepth = 56.901673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.901673 # Seafloor depth:-96.901673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.437271 meters looking forward 0.000000 meters along route # Maximum depth: 96.437271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.437271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691618; longitude = -121.937424; captureRadius = 10; duration = 55; initialDepth = 55.630465; finalDepth = 56.437271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.437271 # Seafloor depth:-96.437271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 95.630465 meters looking forward 0.000000 meters along route # Maximum depth: 95.630465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.630465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691798; longitude = -121.937958; captureRadius = 10; duration = 55; initialDepth = 55.217740; finalDepth = 55.630465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.630465 # Seafloor depth:-95.630465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 95.217740 meters looking forward 0.000000 meters along route # Maximum depth: 95.217740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.217740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691979; longitude = -121.938492; captureRadius = 10; duration = 55; initialDepth = 55.025721; finalDepth = 55.217740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.21774 # Seafloor depth:-95.217740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 95.025721 meters looking forward 0.000000 meters along route # Maximum depth: 95.025721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.025721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692159; longitude = -121.939027; captureRadius = 10; duration = 55; initialDepth = 53.994881; finalDepth = 55.025721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.025721 # Seafloor depth:-95.025721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 93.994881 meters looking forward 0.000000 meters along route # Maximum depth: 93.994881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.994881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692345; longitude = -121.939578; captureRadius = 10; duration = 55; initialDepth = 53.020965; finalDepth = 53.994881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.994881 # Seafloor depth:-93.994881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 93.020965 meters looking forward 0.000000 meters along route # Maximum depth: 93.020965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.020965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692520; longitude = -121.940095; captureRadius = 10; duration = 55; initialDepth = 51.894397; finalDepth = 53.020965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.020965 # Seafloor depth:-93.020965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 91.894397 meters looking forward 0.000000 meters along route # Maximum depth: 91.894397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.894397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692700; longitude = -121.940629; captureRadius = 10; duration = 55; initialDepth = 47.632677; finalDepth = 51.894397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.894397 # Seafloor depth:-91.894397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 87.632677 meters looking forward 0.000000 meters along route # Maximum depth: 87.632677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.632677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692881; longitude = -121.941164; captureRadius = 10; duration = 55; initialDepth = 44.393789; finalDepth = 47.632677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.632677 # Seafloor depth:-87.632677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 84.393789 meters looking forward 0.000000 meters along route # Maximum depth: 84.393789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.393789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693063; longitude = -121.941705; captureRadius = 10; duration = 55; initialDepth = 47.852843; finalDepth = 44.393789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.393789 # Seafloor depth:-84.393789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 87.852843 meters looking forward 0.000000 meters along route # Maximum depth: 87.852843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.852843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -121.942232; captureRadius = 10; duration = 55; initialDepth = 49.830562; finalDepth = 47.852843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.852843 # Seafloor depth:-87.852843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 89.830562 meters looking forward 0.000000 meters along route # Maximum depth: 89.830562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.830562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693422; longitude = -121.942766; captureRadius = 10; duration = 55; initialDepth = 51.741439; finalDepth = 49.830562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.830562 # Seafloor depth:-89.830562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 91.741439 meters looking forward 0.000000 meters along route # Maximum depth: 91.741439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.741439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693602; longitude = -121.943300; captureRadius = 10; duration = 55; initialDepth = 52.310903; finalDepth = 51.741439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.741439 # Seafloor depth:-91.741439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 92.310903 meters looking forward 0.000000 meters along route # Maximum depth: 92.310903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.310903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693783; longitude = -121.943835; captureRadius = 10; duration = 55; initialDepth = 53.649087; finalDepth = 52.310903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.310903 # Seafloor depth:-92.310903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 93.649087 meters looking forward 0.000000 meters along route # Maximum depth: 93.649087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.649087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693963; longitude = -121.944369; captureRadius = 10; duration = 55; initialDepth = 54.013710; finalDepth = 53.649087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.649087 # Seafloor depth:-93.649087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 94.013710 meters looking forward 0.000000 meters along route # Maximum depth: 94.013710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.013710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694144; longitude = -121.944903; captureRadius = 10; duration = 55; initialDepth = 54.511475; finalDepth = 54.013710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.01371 # Seafloor depth:-94.013710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 94.511475 meters looking forward 0.000000 meters along route # Maximum depth: 94.511475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.511475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694324; longitude = -121.945437; captureRadius = 10; duration = 55; initialDepth = 54.657293; finalDepth = 54.511475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.511475 # Seafloor depth:-94.511475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 94.657293 meters looking forward 0.000000 meters along route # Maximum depth: 94.657293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.657293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694504; longitude = -121.945972; captureRadius = 10; duration = 55; initialDepth = 56.154133; finalDepth = 54.657293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.657293 # Seafloor depth:-94.657293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 96.154133 meters looking forward 0.000000 meters along route # Maximum depth: 96.154133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.154133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694689; longitude = -121.946518; captureRadius = 10; duration = 55; initialDepth = 57.563496; finalDepth = 56.154133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.154133 # Seafloor depth:-96.154133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 97.563496 meters looking forward 0.000000 meters along route # Maximum depth: 97.563496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.563496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694865; longitude = -121.947040; captureRadius = 10; duration = 55; initialDepth = 57.398215; finalDepth = 57.563496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.563496 # Seafloor depth:-97.563496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 97.398215 meters looking forward 0.000000 meters along route # Maximum depth: 97.398215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.398215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695046; longitude = -121.947574; captureRadius = 10; duration = 55; initialDepth = 57.962265; finalDepth = 57.398215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.398215 # Seafloor depth:-97.398215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 97.962265 meters looking forward 0.000000 meters along route # Maximum depth: 97.962265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.962265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695226; longitude = -121.948108; captureRadius = 10; duration = 55; initialDepth = 58.241755; finalDepth = 57.962265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.962265 # Seafloor depth:-97.962265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 98.241755 meters looking forward 0.000000 meters along route # Maximum depth: 98.241755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.241755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695407; longitude = -121.948645; captureRadius = 10; duration = 55; initialDepth = 58.273019; finalDepth = 58.241755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.241755 # Seafloor depth:-98.241755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 98.273019 meters looking forward 0.000000 meters along route # Maximum depth: 98.273019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.273019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695587; longitude = -121.949177; captureRadius = 10; duration = 55; initialDepth = 58.433671; finalDepth = 58.273019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.273019 # Seafloor depth:-98.273019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 98.433671 meters looking forward 0.000000 meters along route # Maximum depth: 98.433671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.433671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695767; longitude = -121.949711; captureRadius = 10; duration = 55; initialDepth = 58.526890; finalDepth = 58.433671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.433671 # Seafloor depth:-98.433671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 98.526890 meters looking forward 0.000000 meters along route # Maximum depth: 98.526890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.526890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695948; longitude = -121.950245; captureRadius = 10; duration = 55; initialDepth = 59.051586; finalDepth = 58.526890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.52689 # Seafloor depth:-98.526890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 99.051586 meters looking forward 0.000000 meters along route # Maximum depth: 99.051586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.051586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696128; longitude = -121.950780; captureRadius = 10; duration = 55; initialDepth = 59.792273; finalDepth = 59.051586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.051586 # Seafloor depth:-99.051586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 99.792273 meters looking forward 0.000000 meters along route # Maximum depth: 99.792273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.792273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696315; longitude = -121.951332; captureRadius = 10; duration = 55; initialDepth = 59.985898; finalDepth = 59.792273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.792273 # Seafloor depth:-99.792273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 99.985898 meters looking forward 0.000000 meters along route # Maximum depth: 99.985898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.985898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696489; longitude = -121.951848; captureRadius = 10; duration = 55; initialDepth = 60.216599; finalDepth = 59.985898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.985898 # Seafloor depth:-99.985898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 100.216599 meters looking forward 0.000000 meters along route # Maximum depth: 100.216599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.216599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696669; longitude = -121.952382; captureRadius = 10; duration = 55; initialDepth = 60.204564; finalDepth = 60.216599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.216599 # Seafloor depth:-100.216599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 100.204564 meters looking forward 0.000000 meters along route # Maximum depth: 100.204564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.204564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696850; longitude = -121.952916; captureRadius = 10; duration = 55; initialDepth = 60.510925; finalDepth = 60.204564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.204564 # Seafloor depth:-100.204564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 100.510925 meters looking forward 0.000000 meters along route # Maximum depth: 100.510925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.510925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697033; longitude = -121.953459; captureRadius = 10; duration = 55; initialDepth = 60.718594; finalDepth = 60.510925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.510925 # Seafloor depth:-100.510925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 100.718594 meters looking forward 0.000000 meters along route # Maximum depth: 100.718594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.718594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697211; longitude = -121.953985; captureRadius = 10; duration = 55; initialDepth = 60.868342; finalDepth = 60.718594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.718594 # Seafloor depth:-100.718594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 100.868342 meters looking forward 0.000000 meters along route # Maximum depth: 100.868342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.868342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697391; longitude = -121.954519; captureRadius = 10; duration = 55; initialDepth = 61.403535; finalDepth = 60.868342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.868342 # Seafloor depth:-100.868342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 101.403535 meters looking forward 0.000000 meters along route # Maximum depth: 101.403535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.403535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697571; longitude = -121.955053; captureRadius = 10; duration = 55; initialDepth = 61.567946; finalDepth = 61.403535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.403535 # Seafloor depth:-101.403535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 101.567946 meters looking forward 0.000000 meters along route # Maximum depth: 101.567946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.567946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697752; longitude = -121.955588; captureRadius = 10; duration = 55; initialDepth = 61.544043; finalDepth = 61.567946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.567946 # Seafloor depth:-101.567946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 101.544043 meters looking forward 0.000000 meters along route # Maximum depth: 101.544043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.544043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697932; longitude = -121.956122; captureRadius = 10; duration = 55; initialDepth = 61.803538; finalDepth = 61.544043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.544043 # Seafloor depth:-101.544043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 101.803538 meters looking forward 0.000000 meters along route # Maximum depth: 101.803538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.803538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698113; longitude = -121.956656; captureRadius = 10; duration = 55; initialDepth = 62.393291; finalDepth = 61.803538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.803538 # Seafloor depth:-101.803538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 102.393291 meters looking forward 0.000000 meters along route # Maximum depth: 102.393291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.393291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698293; longitude = -121.957190; captureRadius = 10; duration = 55; initialDepth = 62.995420; finalDepth = 62.393291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.393291 # Seafloor depth:-102.393291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 102.995420 meters looking forward 0.000000 meters along route # Maximum depth: 102.995420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.995420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698473; longitude = -121.957724; captureRadius = 10; duration = 55; initialDepth = 63.045212; finalDepth = 62.995420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.99542 # Seafloor depth:-102.995420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.045212 meters looking forward 0.000000 meters along route # Maximum depth: 103.045212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.045212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698659; longitude = -121.958272; captureRadius = 10; duration = 55; initialDepth = 62.726857; finalDepth = 63.045212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.045212 # Seafloor depth:-103.045212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 102.726857 meters looking forward 0.000000 meters along route # Maximum depth: 102.726857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.726857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698834; longitude = -121.958793; captureRadius = 10; duration = 55; initialDepth = 62.424394; finalDepth = 62.726857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.726857 # Seafloor depth:-102.726857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 102.424394 meters looking forward 0.000000 meters along route # Maximum depth: 102.424394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.424394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699015; longitude = -121.959327; captureRadius = 10; duration = 55; initialDepth = 62.355745; finalDepth = 62.424394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.424394 # Seafloor depth:-102.424394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 102.355745 meters looking forward 0.000000 meters along route # Maximum depth: 102.355745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.355745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699195; longitude = -121.959861; captureRadius = 10; duration = 55; initialDepth = 63.187593; finalDepth = 62.355745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.355745 # Seafloor depth:-102.355745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.187593 meters looking forward 0.000000 meters along route # Maximum depth: 103.187593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.187593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699377; longitude = -121.960399; captureRadius = 10; duration = 55; initialDepth = 63.285175; finalDepth = 63.187593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.187593 # Seafloor depth:-103.187593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.285175 meters looking forward 0.000000 meters along route # Maximum depth: 103.285175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.285175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699556; longitude = -121.960930; captureRadius = 10; duration = 55; initialDepth = 63.708136; finalDepth = 63.285175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.285175 # Seafloor depth:-103.285175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.708136 meters looking forward 0.000000 meters along route # Maximum depth: 103.708136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.708136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699736; longitude = -121.961464; captureRadius = 10; duration = 55; initialDepth = 63.730140; finalDepth = 63.708136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.708136 # Seafloor depth:-103.708136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.730140 meters looking forward 0.000000 meters along route # Maximum depth: 103.730140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.730140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699917; longitude = -121.961998; captureRadius = 10; duration = 55; initialDepth = 63.870298; finalDepth = 63.730140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.73014 # Seafloor depth:-103.730140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 103.870298 meters looking forward 0.000000 meters along route # Maximum depth: 103.870298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.870298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700097; longitude = -121.962532; captureRadius = 10; duration = 55; initialDepth = 64.537925; finalDepth = 63.870298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.870298 # Seafloor depth:-103.870298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 104.537925 meters looking forward 0.000000 meters along route # Maximum depth: 104.537925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.537925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700278; longitude = -121.963067; captureRadius = 10; duration = 55; initialDepth = 65.023858; finalDepth = 64.537925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.537925 # Seafloor depth:-104.537925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.023858 meters looking forward 0.000000 meters along route # Maximum depth: 105.023858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.023858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700458; longitude = -121.963601; captureRadius = 10; duration = 55; initialDepth = 65.230342; finalDepth = 65.023858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.023858 # Seafloor depth:-105.023858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.230342 meters looking forward 0.000000 meters along route # Maximum depth: 105.230342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.230342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700638; longitude = -121.964135; captureRadius = 10; duration = 55; initialDepth = 65.269484; finalDepth = 65.230342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.230342 # Seafloor depth:-105.230342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.269484 meters looking forward 0.000000 meters along route # Maximum depth: 105.269484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.269484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700819; longitude = -121.964669; captureRadius = 10; duration = 55; initialDepth = 65.042834; finalDepth = 65.269484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.269484 # Seafloor depth:-105.269484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.042834 meters looking forward 0.000000 meters along route # Maximum depth: 105.042834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.042834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701002; longitude = -121.965213; captureRadius = 10; duration = 55; initialDepth = 65.266448; finalDepth = 65.042834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.042834 # Seafloor depth:-105.042834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.266448 meters looking forward 0.000000 meters along route # Maximum depth: 105.266448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.266448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701180; longitude = -121.965738; captureRadius = 10; duration = 55; initialDepth = 65.640801; finalDepth = 65.266448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.266448 # Seafloor depth:-105.266448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.640801 meters looking forward 0.000000 meters along route # Maximum depth: 105.640801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.640801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701360; longitude = -121.966272; captureRadius = 10; duration = 55; initialDepth = 66.054264; finalDepth = 65.640801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.640801 # Seafloor depth:-105.640801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 106.054264 meters looking forward 0.000000 meters along route # Maximum depth: 106.054264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.054264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701540; longitude = -121.966806; captureRadius = 10; duration = 55; initialDepth = 66.017147; finalDepth = 66.054264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.054264 # Seafloor depth:-106.054264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 106.017147 meters looking forward 0.000000 meters along route # Maximum depth: 106.017147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.017147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701721; longitude = -121.967340; captureRadius = 10; duration = 55; initialDepth = 65.599789; finalDepth = 66.017147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.017147 # Seafloor depth:-106.017147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 105.599789 meters looking forward 0.000000 meters along route # Maximum depth: 105.599789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.599789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701901; longitude = -121.967875; captureRadius = 10; duration = 55; initialDepth = 66.478328; finalDepth = 65.599789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.599789 # Seafloor depth:-105.599789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 106.478328 meters looking forward 0.000000 meters along route # Maximum depth: 106.478328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.478328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702082; longitude = -121.968409; captureRadius = 10; duration = 55; initialDepth = 67.204865; finalDepth = 66.478328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.478328 # Seafloor depth:-106.478328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 107.204865 meters looking forward 0.000000 meters along route # Maximum depth: 107.204865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.204865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702262; longitude = -121.968943; captureRadius = 10; duration = 55; initialDepth = 67.839139; finalDepth = 67.204865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.204865 # Seafloor depth:-107.204865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 107.839139 meters looking forward 0.000000 meters along route # Maximum depth: 107.839139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.839139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702442; longitude = -121.969477; captureRadius = 10; duration = 55; initialDepth = 68.872947; finalDepth = 67.839139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.839139 # Seafloor depth:-107.839139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 108.872947 meters looking forward 0.000000 meters along route # Maximum depth: 108.872947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.872947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702628; longitude = -121.970027; captureRadius = 10; duration = 55; initialDepth = 69.456680; finalDepth = 68.872947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.872947 # Seafloor depth:-108.872947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 109.456680 meters looking forward 0.000000 meters along route # Maximum depth: 109.456680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.456680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702803; longitude = -121.970546; captureRadius = 10; duration = 55; initialDepth = 69.766567; finalDepth = 69.456680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.45668 # Seafloor depth:-109.456680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 109.766567 meters looking forward 0.000000 meters along route # Maximum depth: 109.766567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.766567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702984; longitude = -121.971080; captureRadius = 10; duration = 55; initialDepth = 70.234434; finalDepth = 69.766567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.766567 # Seafloor depth:-109.766567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 110.234434 meters looking forward 0.000000 meters along route # Maximum depth: 110.234434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.234434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703164; longitude = -121.971614; captureRadius = 10; duration = 55; initialDepth = 70.999901; finalDepth = 70.234434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.234434 # Seafloor depth:-110.234434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 110.999901 meters looking forward 0.000000 meters along route # Maximum depth: 110.999901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.999901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703346; longitude = -121.972154; captureRadius = 10; duration = 55; initialDepth = 72.204551; finalDepth = 70.999901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.999901 # Seafloor depth:-110.999901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 112.204551 meters looking forward 0.000000 meters along route # Maximum depth: 112.204551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.204551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703525; longitude = -121.972683; captureRadius = 10; duration = 55; initialDepth = 75.284687; finalDepth = 72.204551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.204551 # Seafloor depth:-112.204551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 115.284687 meters looking forward 0.000000 meters along route # Maximum depth: 115.284687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.284687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703705; longitude = -121.973217; captureRadius = 10; duration = 55; initialDepth = 77.612459; finalDepth = 75.284687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.284687 # Seafloor depth:-115.284687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 117.612459 meters looking forward 0.000000 meters along route # Maximum depth: 117.612459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.612459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703886; longitude = -121.973751; captureRadius = 10; duration = 55; initialDepth = 79.674512; finalDepth = 77.612459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.612459 # Seafloor depth:-117.612459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 119.674512 meters looking forward 0.000000 meters along route # Maximum depth: 119.674512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.674512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704066; longitude = -121.974285; captureRadius = 10; duration = 55; initialDepth = 81.275017; finalDepth = 79.674512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.674512 # Seafloor depth:-119.674512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 121.275017 meters looking forward 0.000000 meters along route # Maximum depth: 121.275017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.275017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704247; longitude = -121.974820; captureRadius = 10; duration = 55; initialDepth = 84.115414; finalDepth = 81.275017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.275017 # Seafloor depth:-121.275017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 124.115414 meters looking forward 0.000000 meters along route # Maximum depth: 124.115414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.115414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704427; longitude = -121.975354; captureRadius = 10; duration = 55; initialDepth = 89.348538; finalDepth = 84.115414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.115414 # Seafloor depth:-124.115414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 129.348538 meters looking forward 0.000000 meters along route # Maximum depth: 129.348538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.348538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704607; longitude = -121.975888; captureRadius = 10; duration = 55; initialDepth = 94.133151; finalDepth = 89.348538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.348538 # Seafloor depth:-129.348538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 134.133151 meters looking forward 0.000000 meters along route # Maximum depth: 134.133151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.133151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704788; longitude = -121.976422; captureRadius = 10; duration = 55; initialDepth = 97.149771; finalDepth = 94.133151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.133151 # Seafloor depth:-134.133151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 137.149771 meters looking forward 0.000000 meters along route # Maximum depth: 137.149771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.149771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704972; longitude = -121.976967; captureRadius = 10; duration = 55; initialDepth = 99.059874; finalDepth = 97.149771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.149771 # Seafloor depth:-137.149771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 139.059874 meters looking forward 0.000000 meters along route # Maximum depth: 139.059874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.059874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705149; longitude = -121.977491; captureRadius = 10; duration = 55; initialDepth = 102.709653; finalDepth = 99.059874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:99.059874 # Seafloor depth:-139.059874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 142.709653 meters looking forward 0.000000 meters along route # Maximum depth: 142.709653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.709653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705329; longitude = -121.978025; captureRadius = 10; duration = 55; initialDepth = 108.881118; finalDepth = 102.709653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.709653 # Seafloor depth:-142.709653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 148.881118 meters looking forward 0.000000 meters along route # Maximum depth: 148.881118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.881118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705509; longitude = -121.978559; captureRadius = 10; duration = 55; initialDepth = 118.931766; finalDepth = 108.881118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.881118 # Seafloor depth:-148.881118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 158.931766 meters looking forward 0.000000 meters along route # Maximum depth: 158.931766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.931766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705690; longitude = -121.979094; captureRadius = 10; duration = 55; initialDepth = 133.175374; finalDepth = 118.931766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:118.931766 # Seafloor depth:-158.931766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 173.175374 meters looking forward 0.000000 meters along route # Maximum depth: 173.175374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.175374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705870; longitude = -121.979628; captureRadius = 10; duration = 55; initialDepth = 146.594426; finalDepth = 133.175374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:133.175374 # Seafloor depth:-173.175374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 186.594426 meters looking forward 0.000000 meters along route # Maximum depth: 186.594426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.594426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706051; longitude = -121.980162; captureRadius = 10; duration = 55; initialDepth = 160.867171; finalDepth = 146.594426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:146.594426 # Seafloor depth:-186.594426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 200.867171 meters looking forward 0.000000 meters along route # Maximum depth: 200.867171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.867171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706231; longitude = -121.980696; captureRadius = 10; duration = 55; initialDepth = 175.192092; finalDepth = 160.867171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:160.867171 # Seafloor depth:-200.867171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 215.192092 meters looking forward 0.000000 meters along route # Maximum depth: 215.192092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.192092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706412; longitude = -121.981230; captureRadius = 10; duration = 55; initialDepth = 190.169920; finalDepth = 175.192092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.192092 # Seafloor depth:-215.192092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 230.169920 meters looking forward 0.000000 meters along route # Maximum depth: 230.169920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.169920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -121.981781; captureRadius = 10; duration = 55; initialDepth = 207.799433; finalDepth = 190.169920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.16992 # Seafloor depth:-230.169920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 247.799433 meters looking forward 0.000000 meters along route # Maximum depth: 247.799433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.799433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706772; longitude = -121.982299; captureRadius = 10; duration = 55; initialDepth = 223.248358; finalDepth = 207.799433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.799433 # Seafloor depth:-247.799433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 263.248358 meters looking forward 0.000000 meters along route # Maximum depth: 263.248358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.248358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706953; longitude = -121.982833; captureRadius = 10; duration = 55; initialDepth = 240.997213; finalDepth = 223.248358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.248358 # Seafloor depth:-263.248358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 280.997213 meters looking forward 0.000000 meters along route # Maximum depth: 280.997213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.997213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707133; longitude = -121.983367; captureRadius = 10; duration = 55; initialDepth = 258.310331; finalDepth = 240.997213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.997213 # Seafloor depth:-280.997213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 298.310331 meters looking forward 0.000000 meters along route # Maximum depth: 298.310331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.310331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707316; longitude = -121.983908; captureRadius = 10; duration = 55; initialDepth = 273.923494; finalDepth = 258.310331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.310331 # Seafloor depth:-298.310331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 313.923494 meters looking forward 0.000000 meters along route # Maximum depth: 313.923494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.923494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707494; longitude = -121.984435; captureRadius = 10; duration = 55; initialDepth = 289.004265; finalDepth = 273.923494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.923494 # Seafloor depth:-313.923494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 329.004265 meters looking forward 0.000000 meters along route # Maximum depth: 329.004265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.004265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707674; longitude = -121.984970; captureRadius = 10; duration = 55; initialDepth = 303.828000; finalDepth = 289.004265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.004265 # Seafloor depth:-329.004265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.384171 meters # Minimum depth: 343.828000 meters looking forward 0.000000 meters along route # Maximum depth: 343.828000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.828000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707855; longitude = -121.985504; captureRadius = 10; duration = 55; initialDepth = 320.671570; finalDepth = 303.828000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.828 # Seafloor depth:-343.828000 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # 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 55.384171 meters # Minimum depth: 360.671570 meters looking forward 0.000000 meters along route # Maximum depth: 360.671570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.671570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708049; longitude = -121.986079; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 324.730685; finalDepth = 320.671570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:320.67157 # Seafloor depth:-360.671570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 55.384171 meters # Minimum depth: 364.730685 meters looking forward 0.000000 meters along route # Maximum depth: 364.730685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.730685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708396; longitude = -121.985898; captureRadius = 10; duration = 55; initialDepth = 328.255032; finalDepth = 324.730685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.730685 # Seafloor depth:-364.730685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 55.384171 meters # Minimum depth: 368.255032 meters looking forward 0.000000 meters along route # Maximum depth: 368.255032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.255032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708847; longitude = -121.985663; captureRadius = 10; duration = 55; initialDepth = 325.290840; finalDepth = 328.255032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:328.255032 # Seafloor depth:-368.255032 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 55.384171 meters # Minimum depth: 365.290840 meters looking forward 0.000000 meters along route # Maximum depth: 365.290840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.290840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709296; longitude = -121.985429; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 316.032169; finalDepth = 325.290840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:325.29084 # Seafloor depth:-365.290840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 356.032169 meters looking forward 0.000000 meters along route # Maximum depth: 356.032169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.032169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709118; longitude = -121.984902; captureRadius = 10; duration = 55; initialDepth = 305.061660; finalDepth = 316.032169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:316.032169 # Seafloor depth:-356.032169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 345.061660 meters looking forward 0.000000 meters along route # Maximum depth: 345.061660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.061660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708933; longitude = -121.984356; captureRadius = 10; duration = 55; initialDepth = 293.277474; finalDepth = 305.061660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:305.06166 # Seafloor depth:-345.061660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 333.277474 meters looking forward 0.000000 meters along route # Maximum depth: 333.277474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.277474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708757; longitude = -121.983835; captureRadius = 10; duration = 55; initialDepth = 281.150823; finalDepth = 293.277474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.277474 # Seafloor depth:-333.277474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 321.150823 meters looking forward 0.000000 meters along route # Maximum depth: 321.150823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.150823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708576; longitude = -121.983301; captureRadius = 10; duration = 55; initialDepth = 267.423833; finalDepth = 281.150823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.150823 # Seafloor depth:-321.150823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 307.423833 meters looking forward 0.000000 meters along route # Maximum depth: 307.423833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.423833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708396; longitude = -121.982768; captureRadius = 10; duration = 55; initialDepth = 253.570889; finalDepth = 267.423833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:267.423833 # Seafloor depth:-307.423833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 293.570889 meters looking forward 0.000000 meters along route # Maximum depth: 293.570889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.570889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708214; longitude = -121.982229; captureRadius = 10; duration = 55; initialDepth = 240.114917; finalDepth = 253.570889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:253.570889 # Seafloor depth:-293.570889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 280.114917 meters looking forward 0.000000 meters along route # Maximum depth: 280.114917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.114917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708035; longitude = -121.981701; captureRadius = 10; duration = 55; initialDepth = 228.422899; finalDepth = 240.114917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.114917 # Seafloor depth:-280.114917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 268.422899 meters looking forward 0.000000 meters along route # Maximum depth: 268.422899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.422899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707855; longitude = -121.981168; captureRadius = 10; duration = 55; initialDepth = 214.356565; finalDepth = 228.422899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:228.422899 # Seafloor depth:-268.422899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 254.356565 meters looking forward 0.000000 meters along route # Maximum depth: 254.356565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.356565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707674; longitude = -121.980634; captureRadius = 10; duration = 55; initialDepth = 201.757753; finalDepth = 214.356565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:214.356565 # Seafloor depth:-254.356565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 241.757753 meters looking forward 0.000000 meters along route # Maximum depth: 241.757753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.757753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707494; longitude = -121.980101; captureRadius = 10; duration = 55; initialDepth = 188.273330; finalDepth = 201.757753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.757753 # Seafloor depth:-241.757753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 228.273330 meters looking forward 0.000000 meters along route # Maximum depth: 228.273330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.273330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707314; longitude = -121.979567; captureRadius = 10; duration = 55; initialDepth = 174.025465; finalDepth = 188.273330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.27333 # Seafloor depth:-228.273330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 214.025465 meters looking forward 0.000000 meters along route # Maximum depth: 214.025465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.025465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707133; longitude = -121.979034; captureRadius = 10; duration = 55; initialDepth = 161.807185; finalDepth = 174.025465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.025465 # Seafloor depth:-214.025465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 201.807185 meters looking forward 0.000000 meters along route # Maximum depth: 201.807185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.807185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706953; longitude = -121.978500; captureRadius = 10; duration = 55; initialDepth = 150.635532; finalDepth = 161.807185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:161.807185 # Seafloor depth:-201.807185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 190.635532 meters looking forward 0.000000 meters along route # Maximum depth: 190.635532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.635532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706772; longitude = -121.977967; captureRadius = 10; duration = 55; initialDepth = 140.829724; finalDepth = 150.635532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.635532 # Seafloor depth:-190.635532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 180.829724 meters looking forward 0.000000 meters along route # Maximum depth: 180.829724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.829724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706592; longitude = -121.977433; captureRadius = 10; duration = 55; initialDepth = 131.506993; finalDepth = 140.829724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.829724 # Seafloor depth:-180.829724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 171.506993 meters looking forward 0.000000 meters along route # Maximum depth: 171.506993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.506993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706412; longitude = -121.976900; captureRadius = 10; duration = 55; initialDepth = 120.833465; finalDepth = 131.506993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:131.506993 # Seafloor depth:-171.506993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 160.833465 meters looking forward 0.000000 meters along route # Maximum depth: 160.833465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.833465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706231; longitude = -121.976367; captureRadius = 10; duration = 55; initialDepth = 107.292776; finalDepth = 120.833465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:120.833465 # Seafloor depth:-160.833465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 147.292776 meters looking forward 0.000000 meters along route # Maximum depth: 147.292776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.292776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706051; longitude = -121.975833; captureRadius = 10; duration = 55; initialDepth = 94.965031; finalDepth = 107.292776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:107.292776 # Seafloor depth:-147.292776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 134.965031 meters looking forward 0.000000 meters along route # Maximum depth: 134.965031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.965031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705866; longitude = -121.975288; captureRadius = 10; duration = 55; initialDepth = 87.931437; finalDepth = 94.965031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.965031 # Seafloor depth:-134.965031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 127.931437 meters looking forward 0.000000 meters along route # Maximum depth: 127.931437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.931437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705690; longitude = -121.974766; captureRadius = 10; duration = 55; initialDepth = 84.388951; finalDepth = 87.931437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.931437 # Seafloor depth:-127.931437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 124.388951 meters looking forward 0.000000 meters along route # Maximum depth: 124.388951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.388951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705509; longitude = -121.974233; captureRadius = 10; duration = 55; initialDepth = 82.629924; finalDepth = 84.388951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.388951 # Seafloor depth:-124.388951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 122.629924 meters looking forward 0.000000 meters along route # Maximum depth: 122.629924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.629924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705329; longitude = -121.973699; captureRadius = 10; duration = 55; initialDepth = 78.158565; finalDepth = 82.629924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.629924 # Seafloor depth:-122.629924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 118.158565 meters looking forward 0.000000 meters along route # Maximum depth: 118.158565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.158565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705147; longitude = -121.973161; captureRadius = 10; duration = 55; initialDepth = 73.749345; finalDepth = 78.158565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.158565 # Seafloor depth:-118.158565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 113.749345 meters looking forward 0.000000 meters along route # Maximum depth: 113.749345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.749345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704968; longitude = -121.972632; captureRadius = 10; duration = 55; initialDepth = 71.180064; finalDepth = 73.749345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.749345 # Seafloor depth:-113.749345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 111.180064 meters looking forward 0.000000 meters along route # Maximum depth: 111.180064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.180064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704788; longitude = -121.972099; captureRadius = 10; duration = 55; initialDepth = 70.648511; finalDepth = 71.180064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.180064 # Seafloor depth:-111.180064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 110.648511 meters looking forward 0.000000 meters along route # Maximum depth: 110.648511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.648511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704607; longitude = -121.971565; captureRadius = 10; duration = 55; initialDepth = 69.631561; finalDepth = 70.648511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.648511 # Seafloor depth:-110.648511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 109.631561 meters looking forward 0.000000 meters along route # Maximum depth: 109.631561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.631561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704427; longitude = -121.971032; captureRadius = 10; duration = 55; initialDepth = 68.911928; finalDepth = 69.631561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.631561 # Seafloor depth:-109.631561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 108.911928 meters looking forward 0.000000 meters along route # Maximum depth: 108.911928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.911928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704247; longitude = -121.970499; captureRadius = 10; duration = 55; initialDepth = 68.628298; finalDepth = 68.911928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.911928 # Seafloor depth:-108.911928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 108.628298 meters looking forward 0.000000 meters along route # Maximum depth: 108.628298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.628298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704066; longitude = -121.969965; captureRadius = 10; duration = 55; initialDepth = 68.100301; finalDepth = 68.628298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.628298 # Seafloor depth:-108.628298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 108.100301 meters looking forward 0.000000 meters along route # Maximum depth: 108.100301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.100301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703886; longitude = -121.969432; captureRadius = 10; duration = 55; initialDepth = 67.320740; finalDepth = 68.100301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.100301 # Seafloor depth:-108.100301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 107.320740 meters looking forward 0.000000 meters along route # Maximum depth: 107.320740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.320740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703705; longitude = -121.968898; captureRadius = 10; duration = 55; initialDepth = 65.809214; finalDepth = 67.320740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.32074 # Seafloor depth:-107.320740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.809214 meters looking forward 0.000000 meters along route # Maximum depth: 105.809214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.809214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703519; longitude = -121.968347; captureRadius = 10; duration = 55; initialDepth = 65.375387; finalDepth = 65.809214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.809214 # Seafloor depth:-105.809214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.375387 meters looking forward 0.000000 meters along route # Maximum depth: 105.375387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.375387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703345; longitude = -121.967831; captureRadius = 10; duration = 55; initialDepth = 65.855142; finalDepth = 65.375387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.375387 # Seafloor depth:-105.375387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.855142 meters looking forward 0.000000 meters along route # Maximum depth: 105.855142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.855142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703164; longitude = -121.967298; captureRadius = 10; duration = 55; initialDepth = 65.549197; finalDepth = 65.855142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.855142 # Seafloor depth:-105.855142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.549197 meters looking forward 0.000000 meters along route # Maximum depth: 105.549197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.549197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702984; longitude = -121.966764; captureRadius = 10; duration = 55; initialDepth = 65.489542; finalDepth = 65.549197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.549197 # Seafloor depth:-105.549197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.489542 meters looking forward 0.000000 meters along route # Maximum depth: 105.489542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.489542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702800; longitude = -121.966221; captureRadius = 10; duration = 55; initialDepth = 65.135423; finalDepth = 65.489542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.489542 # Seafloor depth:-105.489542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.135423 meters looking forward 0.000000 meters along route # Maximum depth: 105.135423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.135423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702623; longitude = -121.965698; captureRadius = 10; duration = 55; initialDepth = 64.980157; finalDepth = 65.135423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.135423 # Seafloor depth:-105.135423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 104.980157 meters looking forward 0.000000 meters along route # Maximum depth: 104.980157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.980157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702442; longitude = -121.965164; captureRadius = 10; duration = 55; initialDepth = 64.570064; finalDepth = 64.980157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.980157 # Seafloor depth:-104.980157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 104.570064 meters looking forward 0.000000 meters along route # Maximum depth: 104.570064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.570064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702262; longitude = -121.964631; captureRadius = 10; duration = 55; initialDepth = 64.762668; finalDepth = 64.570064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.570064 # Seafloor depth:-104.570064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 104.762668 meters looking forward 0.000000 meters along route # Maximum depth: 104.762668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.762668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702080; longitude = -121.964094; captureRadius = 10; duration = 55; initialDepth = 65.236215; finalDepth = 64.762668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.762668 # Seafloor depth:-104.762668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.236215 meters looking forward 0.000000 meters along route # Maximum depth: 105.236215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.236215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701901; longitude = -121.963564; captureRadius = 10; duration = 55; initialDepth = 65.093006; finalDepth = 65.236215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.236215 # Seafloor depth:-105.236215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 105.093006 meters looking forward 0.000000 meters along route # Maximum depth: 105.093006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.093006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701721; longitude = -121.963030; captureRadius = 10; duration = 55; initialDepth = 64.621832; finalDepth = 65.093006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.093006 # Seafloor depth:-105.093006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 104.621832 meters looking forward 0.000000 meters along route # Maximum depth: 104.621832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.621832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701540; longitude = -121.962497; captureRadius = 10; duration = 55; initialDepth = 64.085323; finalDepth = 64.621832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.621832 # Seafloor depth:-104.621832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 104.085323 meters looking forward 0.000000 meters along route # Maximum depth: 104.085323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.085323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701360; longitude = -121.961963; captureRadius = 10; duration = 55; initialDepth = 63.422176; finalDepth = 64.085323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.085323 # Seafloor depth:-104.085323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 103.422176 meters looking forward 0.000000 meters along route # Maximum depth: 103.422176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.422176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701180; longitude = -121.961430; captureRadius = 10; duration = 55; initialDepth = 63.581127; finalDepth = 63.422176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.422176 # Seafloor depth:-103.422176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 103.581127 meters looking forward 0.000000 meters along route # Maximum depth: 103.581127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.581127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700999; longitude = -121.960897; captureRadius = 10; duration = 55; initialDepth = 63.004216; finalDepth = 63.581127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.581127 # Seafloor depth:-103.581127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 103.004216 meters looking forward 0.000000 meters along route # Maximum depth: 103.004216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.004216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700819; longitude = -121.960363; captureRadius = 10; duration = 55; initialDepth = 62.975090; finalDepth = 63.004216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.004216 # Seafloor depth:-103.004216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 102.975090 meters looking forward 0.000000 meters along route # Maximum depth: 102.975090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.975090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700638; longitude = -121.959830; captureRadius = 10; duration = 55; initialDepth = 61.751485; finalDepth = 62.975090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.97509 # Seafloor depth:-102.975090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.751485 meters looking forward 0.000000 meters along route # Maximum depth: 101.751485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.751485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700452; longitude = -121.959280; captureRadius = 10; duration = 55; initialDepth = 62.536166; finalDepth = 61.751485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.751485 # Seafloor depth:-101.751485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 102.536166 meters looking forward 0.000000 meters along route # Maximum depth: 102.536166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.536166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700278; longitude = -121.958763; captureRadius = 10; duration = 55; initialDepth = 62.776114; finalDepth = 62.536166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.536166 # Seafloor depth:-102.536166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 102.776114 meters looking forward 0.000000 meters along route # Maximum depth: 102.776114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.776114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700097; longitude = -121.958229; captureRadius = 10; duration = 55; initialDepth = 63.077550; finalDepth = 62.776114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.776114 # Seafloor depth:-102.776114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 103.077550 meters looking forward 0.000000 meters along route # Maximum depth: 103.077550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.077550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699917; longitude = -121.957696; captureRadius = 10; duration = 55; initialDepth = 63.083262; finalDepth = 63.077550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.07755 # Seafloor depth:-103.077550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 103.083262 meters looking forward 0.000000 meters along route # Maximum depth: 103.083262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.083262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699733; longitude = -121.957153; captureRadius = 10; duration = 55; initialDepth = 62.754448; finalDepth = 63.083262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.083262 # Seafloor depth:-103.083262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 102.754448 meters looking forward 0.000000 meters along route # Maximum depth: 102.754448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.754448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699556; longitude = -121.956629; captureRadius = 10; duration = 55; initialDepth = 61.981462; finalDepth = 62.754448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.754448 # Seafloor depth:-102.754448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.981462 meters looking forward 0.000000 meters along route # Maximum depth: 101.981462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.981462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699375; longitude = -121.956095; captureRadius = 10; duration = 55; initialDepth = 61.610732; finalDepth = 61.981462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.981462 # Seafloor depth:-101.981462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.610732 meters looking forward 0.000000 meters along route # Maximum depth: 101.610732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.610732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699195; longitude = -121.955562; captureRadius = 10; duration = 55; initialDepth = 61.311919; finalDepth = 61.610732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.610732 # Seafloor depth:-101.610732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.311919 meters looking forward 0.000000 meters along route # Maximum depth: 101.311919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.311919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699014; longitude = -121.955026; captureRadius = 10; duration = 55; initialDepth = 61.577134; finalDepth = 61.311919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.311919 # Seafloor depth:-101.311919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.577134 meters looking forward 0.000000 meters along route # Maximum depth: 101.577134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.577134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698834; longitude = -121.954495; captureRadius = 10; duration = 55; initialDepth = 60.909329; finalDepth = 61.577134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.577134 # Seafloor depth:-101.577134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.909329 meters looking forward 0.000000 meters along route # Maximum depth: 100.909329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.909329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698654; longitude = -121.953962; captureRadius = 10; duration = 55; initialDepth = 61.081050; finalDepth = 60.909329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.909329 # Seafloor depth:-100.909329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 101.081050 meters looking forward 0.000000 meters along route # Maximum depth: 101.081050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.081050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698473; longitude = -121.953428; captureRadius = 10; duration = 55; initialDepth = 60.412399; finalDepth = 61.081050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.08105 # Seafloor depth:-101.081050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.412399 meters looking forward 0.000000 meters along route # Maximum depth: 100.412399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.412399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698293; longitude = -121.952895; captureRadius = 10; duration = 55; initialDepth = 60.242418; finalDepth = 60.412399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.412399 # Seafloor depth:-100.412399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.242418 meters looking forward 0.000000 meters along route # Maximum depth: 100.242418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.242418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698113; longitude = -121.952361; captureRadius = 10; duration = 55; initialDepth = 60.176729; finalDepth = 60.242418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.242418 # Seafloor depth:-100.242418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.176729 meters looking forward 0.000000 meters along route # Maximum depth: 100.176729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.176729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697932; longitude = -121.951828; captureRadius = 10; duration = 55; initialDepth = 60.295489; finalDepth = 60.176729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.176729 # Seafloor depth:-100.176729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.295489 meters looking forward 0.000000 meters along route # Maximum depth: 100.295489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.295489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697752; longitude = -121.951294; captureRadius = 10; duration = 55; initialDepth = 60.304909; finalDepth = 60.295489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.295489 # Seafloor depth:-100.295489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 100.304909 meters looking forward 0.000000 meters along route # Maximum depth: 100.304909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.304909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697571; longitude = -121.950761; captureRadius = 10; duration = 55; initialDepth = 59.606683; finalDepth = 60.304909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.304909 # Seafloor depth:-100.304909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 99.606683 meters looking forward 0.000000 meters along route # Maximum depth: 99.606683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.606683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697386; longitude = -121.950212; captureRadius = 10; duration = 55; initialDepth = 59.195582; finalDepth = 59.606683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.606683 # Seafloor depth:-99.606683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 99.195582 meters looking forward 0.000000 meters along route # Maximum depth: 99.195582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.195582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697211; longitude = -121.949694; captureRadius = 10; duration = 55; initialDepth = 58.813558; finalDepth = 59.195582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.195582 # Seafloor depth:-99.195582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 98.813558 meters looking forward 0.000000 meters along route # Maximum depth: 98.813558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.813558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697030; longitude = -121.949161; captureRadius = 10; duration = 55; initialDepth = 58.857640; finalDepth = 58.813558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.813558 # Seafloor depth:-98.813558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 98.857640 meters looking forward 0.000000 meters along route # Maximum depth: 98.857640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.857640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696850; longitude = -121.948627; captureRadius = 10; duration = 55; initialDepth = 58.409503; finalDepth = 58.857640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.85764 # Seafloor depth:-98.857640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 98.409503 meters looking forward 0.000000 meters along route # Maximum depth: 98.409503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.409503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696667; longitude = -121.948085; captureRadius = 10; duration = 55; initialDepth = 58.542865; finalDepth = 58.409503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.409503 # Seafloor depth:-98.409503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 98.542865 meters looking forward 0.000000 meters along route # Maximum depth: 98.542865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.542865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696489; longitude = -121.947560; captureRadius = 10; duration = 55; initialDepth = 57.088608; finalDepth = 58.542865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.542865 # Seafloor depth:-98.542865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 97.088608 meters looking forward 0.000000 meters along route # Maximum depth: 97.088608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.088608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696309; longitude = -121.947027; captureRadius = 10; duration = 55; initialDepth = 56.939990; finalDepth = 57.088608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.088608 # Seafloor depth:-97.088608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.939990 meters looking forward 0.000000 meters along route # Maximum depth: 96.939990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.939990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696128; longitude = -121.946493; captureRadius = 10; duration = 55; initialDepth = 56.825727; finalDepth = 56.939990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.93999 # Seafloor depth:-96.939990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.825727 meters looking forward 0.000000 meters along route # Maximum depth: 96.825727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.825727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695947; longitude = -121.945958; captureRadius = 10; duration = 55; initialDepth = 55.915717; finalDepth = 56.825727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.825727 # Seafloor depth:-96.825727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 95.915717 meters looking forward 0.000000 meters along route # Maximum depth: 95.915717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.915717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695767; longitude = -121.945427; captureRadius = 10; duration = 55; initialDepth = 53.890875; finalDepth = 55.915717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.915717 # Seafloor depth:-95.915717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 93.890875 meters looking forward 0.000000 meters along route # Maximum depth: 93.890875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.890875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695587; longitude = -121.944893; captureRadius = 10; duration = 55; initialDepth = 52.154597; finalDepth = 53.890875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.890875 # Seafloor depth:-93.890875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 92.154597 meters looking forward 0.000000 meters along route # Maximum depth: 92.154597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.154597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695406; longitude = -121.944360; captureRadius = 10; duration = 55; initialDepth = 50.090407; finalDepth = 52.154597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.154597 # Seafloor depth:-92.154597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 90.090407 meters looking forward 0.000000 meters along route # Maximum depth: 90.090407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.090407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695226; longitude = -121.943826; captureRadius = 10; duration = 55; initialDepth = 48.184412; finalDepth = 50.090407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.090407 # Seafloor depth:-90.090407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 88.184412 meters looking forward 0.000000 meters along route # Maximum depth: 88.184412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.184412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695046; longitude = -121.943293; captureRadius = 10; duration = 55; initialDepth = 42.807173; finalDepth = 48.184412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.184412 # Seafloor depth:-88.184412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 82.807173 meters looking forward 0.000000 meters along route # Maximum depth: 82.807173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.807173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694865; longitude = -121.942759; captureRadius = 10; duration = 55; initialDepth = 46.819469; finalDepth = 42.807173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:42.807173 # Seafloor depth:-82.807173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 86.819469 meters looking forward 0.000000 meters along route # Maximum depth: 86.819469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.819469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694685; longitude = -121.942226; captureRadius = 10; duration = 55; initialDepth = 46.209937; finalDepth = 46.819469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.819469 # Seafloor depth:-86.819469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 86.209937 meters looking forward 0.000000 meters along route # Maximum depth: 86.209937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.209937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694504; longitude = -121.941692; captureRadius = 10; duration = 55; initialDepth = 44.599590; finalDepth = 46.209937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.209937 # Seafloor depth:-86.209937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 84.599590 meters looking forward 0.000000 meters along route # Maximum depth: 84.599590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.599590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694319; longitude = -121.941145; captureRadius = 10; duration = 55; initialDepth = 44.541471; finalDepth = 44.599590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.59959 # Seafloor depth:-84.599590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 84.541471 meters looking forward 0.000000 meters along route # Maximum depth: 84.541471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.541471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694144; longitude = -121.940625; captureRadius = 10; duration = 55; initialDepth = 47.047036; finalDepth = 44.541471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.541471 # Seafloor depth:-84.541471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 87.047036 meters looking forward 0.000000 meters along route # Maximum depth: 87.047036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.047036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693963; longitude = -121.940092; captureRadius = 10; duration = 55; initialDepth = 50.264250; finalDepth = 47.047036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.047036 # Seafloor depth:-87.047036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 90.264250 meters looking forward 0.000000 meters along route # Maximum depth: 90.264250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.264250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693783; longitude = -121.939559; captureRadius = 10; duration = 55; initialDepth = 51.078886; finalDepth = 50.264250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.26425 # Seafloor depth:-90.264250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 91.078886 meters looking forward 0.000000 meters along route # Maximum depth: 91.078886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.078886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693600; longitude = -121.939018; captureRadius = 10; duration = 55; initialDepth = 53.079204; finalDepth = 51.078886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.078886 # Seafloor depth:-91.078886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 93.079204 meters looking forward 0.000000 meters along route # Maximum depth: 93.079204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.079204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693422; longitude = -121.938492; captureRadius = 10; duration = 55; initialDepth = 55.014434; finalDepth = 53.079204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.079204 # Seafloor depth:-93.079204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 95.014434 meters looking forward 0.000000 meters along route # Maximum depth: 95.014434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.014434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -121.937958; captureRadius = 10; duration = 55; initialDepth = 55.421764; finalDepth = 55.014434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.014434 # Seafloor depth:-95.014434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 95.421764 meters looking forward 0.000000 meters along route # Maximum depth: 95.421764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.421764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693061; longitude = -121.937425; captureRadius = 10; duration = 55; initialDepth = 56.773620; finalDepth = 55.421764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.421764 # Seafloor depth:-95.421764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.773620 meters looking forward 0.000000 meters along route # Maximum depth: 96.773620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.773620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692881; longitude = -121.936891; captureRadius = 10; duration = 55; initialDepth = 56.148825; finalDepth = 56.773620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.77362 # Seafloor depth:-96.773620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.148825 meters looking forward 0.000000 meters along route # Maximum depth: 96.148825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.148825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692691; longitude = -121.936331; captureRadius = 10; duration = 55; initialDepth = 56.823457; finalDepth = 56.148825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.148825 # Seafloor depth:-96.148825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.823457 meters looking forward 0.000000 meters along route # Maximum depth: 96.823457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.823457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692502; longitude = -121.935771; captureRadius = 10; duration = 55; initialDepth = 56.756125; finalDepth = 56.823457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.823457 # Seafloor depth:-96.823457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.756125 meters looking forward 0.000000 meters along route # Maximum depth: 96.756125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.756125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692313; longitude = -121.935212; captureRadius = 10; duration = 55; initialDepth = 56.989803; finalDepth = 56.756125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.756125 # Seafloor depth:-96.756125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 96.989803 meters looking forward 0.000000 meters along route # Maximum depth: 96.989803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.989803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692123; longitude = -121.934652; captureRadius = 10; duration = 55; initialDepth = 57.114873; finalDepth = 56.989803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.989803 # Seafloor depth:-96.989803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.384171 meters # Minimum depth: 97.114873 meters looking forward 0.000000 meters along route # Maximum depth: 97.114873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.114873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691934; longitude = -121.934092; captureRadius = 10; duration = 55; initialDepth = 57.039959; finalDepth = 57.114873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.114873 # Seafloor depth:-97.114873 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 55.384171 meters # Minimum depth: 97.039959 meters looking forward 0.000000 meters along route # Maximum depth: 97.039959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.039959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691750; longitude = -121.933548; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 57.261353; finalDepth = 57.039959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.039959 # Seafloor depth:-97.039959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 55.384171 meters # Minimum depth: 97.261353 meters looking forward 0.000000 meters along route # Maximum depth: 97.261353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.261353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692069; longitude = -121.933381; captureRadius = 10; duration = 55; initialDepth = 57.335773; finalDepth = 57.261353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.261353 # Seafloor depth:-97.261353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 55.384171 meters # Minimum depth: 97.335773 meters looking forward 0.000000 meters along route # Maximum depth: 97.335773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.335773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692520; longitude = -121.933146; captureRadius = 10; duration = 55; initialDepth = 57.654005; finalDepth = 57.335773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.335773 # Seafloor depth:-97.335773 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 55.384171 meters # Minimum depth: 97.654005 meters looking forward 0.000000 meters along route # Maximum depth: 97.654005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.654005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692996; longitude = -121.932897; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 57.415432; finalDepth = 57.654005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.654005 # Seafloor depth:-97.654005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.415432 meters looking forward 0.000000 meters along route # Maximum depth: 97.415432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.415432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693151; longitude = -121.933356; captureRadius = 10; duration = 55; initialDepth = 57.469850; finalDepth = 57.415432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.415432 # Seafloor depth:-97.415432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.469850 meters looking forward 0.000000 meters along route # Maximum depth: 97.469850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.469850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693332; longitude = -121.933890; captureRadius = 10; duration = 55; initialDepth = 57.332710; finalDepth = 57.469850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.46985 # Seafloor depth:-97.469850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.332710 meters looking forward 0.000000 meters along route # Maximum depth: 97.332710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.332710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693514; longitude = -121.934428; captureRadius = 10; duration = 55; initialDepth = 57.352488; finalDepth = 57.332710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.33271 # Seafloor depth:-97.332710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.352488 meters looking forward 0.000000 meters along route # Maximum depth: 97.352488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.352488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693693; longitude = -121.934957; captureRadius = 10; duration = 55; initialDepth = 57.704781; finalDepth = 57.352488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.352488 # Seafloor depth:-97.352488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.704781 meters looking forward 0.000000 meters along route # Maximum depth: 97.704781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.704781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693873; longitude = -121.935490; captureRadius = 10; duration = 55; initialDepth = 57.764877; finalDepth = 57.704781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.704781 # Seafloor depth:-97.704781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.764877 meters looking forward 0.000000 meters along route # Maximum depth: 97.764877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.764877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694053; longitude = -121.936023; captureRadius = 10; duration = 55; initialDepth = 56.706076; finalDepth = 57.764877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.764877 # Seafloor depth:-97.764877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 96.706076 meters looking forward 0.000000 meters along route # Maximum depth: 96.706076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.706076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694234; longitude = -121.936557; captureRadius = 10; duration = 55; initialDepth = 56.837942; finalDepth = 56.706076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.706076 # Seafloor depth:-96.706076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 96.837942 meters looking forward 0.000000 meters along route # Maximum depth: 96.837942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.837942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694414; longitude = -121.937090; captureRadius = 10; duration = 55; initialDepth = 56.590538; finalDepth = 56.837942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.837942 # Seafloor depth:-96.837942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 96.590538 meters looking forward 0.000000 meters along route # Maximum depth: 96.590538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.590538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694595; longitude = -121.937624; captureRadius = 10; duration = 55; initialDepth = 52.802670; finalDepth = 56.590538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.590538 # Seafloor depth:-96.590538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 92.802670 meters looking forward 0.000000 meters along route # Maximum depth: 92.802670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.802670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694775; longitude = -121.938157; captureRadius = 10; duration = 55; initialDepth = 44.509219; finalDepth = 52.802670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.80267 # Seafloor depth:-92.802670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 84.509219 meters looking forward 0.000000 meters along route # Maximum depth: 84.509219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.509219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694955; longitude = -121.938691; captureRadius = 10; duration = 55; initialDepth = 40.909610; finalDepth = 44.509219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.509219 # Seafloor depth:-84.509219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 80.909610 meters looking forward 0.000000 meters along route # Maximum depth: 80.909610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.909610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695136; longitude = -121.939224; captureRadius = 10; duration = 55; initialDepth = 40.769156; finalDepth = 40.909610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:40.90961 # Seafloor depth:-80.909610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 80.769156 meters looking forward 0.000000 meters along route # Maximum depth: 80.769156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.769156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695316; longitude = -121.939757; captureRadius = 10; duration = 55; initialDepth = 44.345455; finalDepth = 40.769156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:40.769156 # Seafloor depth:-80.769156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 84.345455 meters looking forward 0.000000 meters along route # Maximum depth: 84.345455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.345455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695497; longitude = -121.940291; captureRadius = 10; duration = 55; initialDepth = 44.852344; finalDepth = 44.345455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.345455 # Seafloor depth:-84.345455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 84.852344 meters looking forward 0.000000 meters along route # Maximum depth: 84.852344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.852344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695677; longitude = -121.940824; captureRadius = 10; duration = 55; initialDepth = 46.834094; finalDepth = 44.852344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.852344 # Seafloor depth:-84.852344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 86.834094 meters looking forward 0.000000 meters along route # Maximum depth: 86.834094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.834094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695861; longitude = -121.941369; captureRadius = 10; duration = 55; initialDepth = 47.215106; finalDepth = 46.834094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.834094 # Seafloor depth:-86.834094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 87.215106 meters looking forward 0.000000 meters along route # Maximum depth: 87.215106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.215106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696038; longitude = -121.941891; captureRadius = 10; duration = 55; initialDepth = 46.653598; finalDepth = 47.215106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.215106 # Seafloor depth:-87.215106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 86.653598 meters looking forward 0.000000 meters along route # Maximum depth: 86.653598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.653598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696218; longitude = -121.942425; captureRadius = 10; duration = 55; initialDepth = 46.106790; finalDepth = 46.653598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.653598 # Seafloor depth:-86.653598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 86.106790 meters looking forward 0.000000 meters along route # Maximum depth: 86.106790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.106790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696399; longitude = -121.942958; captureRadius = 10; duration = 55; initialDepth = 39.892746; finalDepth = 46.106790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.10679 # Seafloor depth:-86.106790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 79.892746 meters looking forward 0.000000 meters along route # Maximum depth: 79.892746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.892746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696581; longitude = -121.943496; captureRadius = 10; duration = 55; initialDepth = 45.529002; finalDepth = 39.892746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:39.892746 # Seafloor depth:-79.892746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 85.529002 meters looking forward 0.000000 meters along route # Maximum depth: 85.529002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.529002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696760; longitude = -121.944025; captureRadius = 10; duration = 55; initialDepth = 54.178911; finalDepth = 45.529002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:45.529002 # Seafloor depth:-85.529002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 94.178911 meters looking forward 0.000000 meters along route # Maximum depth: 94.178911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.178911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696940; longitude = -121.944558; captureRadius = 10; duration = 55; initialDepth = 55.237553; finalDepth = 54.178911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.178911 # Seafloor depth:-94.178911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 95.237553 meters looking forward 0.000000 meters along route # Maximum depth: 95.237553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.237553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697120; longitude = -121.945092; captureRadius = 10; duration = 55; initialDepth = 56.549015; finalDepth = 55.237553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.237553 # Seafloor depth:-95.237553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 96.549015 meters looking forward 0.000000 meters along route # Maximum depth: 96.549015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.549015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697301; longitude = -121.945625; captureRadius = 10; duration = 55; initialDepth = 57.543512; finalDepth = 56.549015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.549015 # Seafloor depth:-96.549015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 97.543512 meters looking forward 0.000000 meters along route # Maximum depth: 97.543512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.543512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697481; longitude = -121.946159; captureRadius = 10; duration = 55; initialDepth = 58.413168; finalDepth = 57.543512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.543512 # Seafloor depth:-97.543512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 98.413168 meters looking forward 0.000000 meters along route # Maximum depth: 98.413168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.413168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697662; longitude = -121.946692; captureRadius = 10; duration = 55; initialDepth = 58.471727; finalDepth = 58.413168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.413168 # Seafloor depth:-98.413168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 98.471727 meters looking forward 0.000000 meters along route # Maximum depth: 98.471727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.471727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697842; longitude = -121.947225; captureRadius = 10; duration = 55; initialDepth = 58.939001; finalDepth = 58.471727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.471727 # Seafloor depth:-98.471727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 98.939001 meters looking forward 0.000000 meters along route # Maximum depth: 98.939001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.939001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698022; longitude = -121.947759; captureRadius = 10; duration = 55; initialDepth = 58.698099; finalDepth = 58.939001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.939001 # Seafloor depth:-98.939001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 98.698099 meters looking forward 0.000000 meters along route # Maximum depth: 98.698099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.698099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698209; longitude = -121.948309; captureRadius = 10; duration = 55; initialDepth = 59.066046; finalDepth = 58.698099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.698099 # Seafloor depth:-98.698099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 99.066046 meters looking forward 0.000000 meters along route # Maximum depth: 99.066046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.066046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698383; longitude = -121.948826; captureRadius = 10; duration = 55; initialDepth = 59.397036; finalDepth = 59.066046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.066046 # Seafloor depth:-99.066046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 99.397036 meters looking forward 0.000000 meters along route # Maximum depth: 99.397036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.397036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698564; longitude = -121.949359; captureRadius = 10; duration = 55; initialDepth = 60.037476; finalDepth = 59.397036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.397036 # Seafloor depth:-99.397036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 100.037476 meters looking forward 0.000000 meters along route # Maximum depth: 100.037476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.037476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698744; longitude = -121.949893; captureRadius = 10; duration = 55; initialDepth = 59.943005; finalDepth = 60.037476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.037476 # Seafloor depth:-100.037476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 99.943005 meters looking forward 0.000000 meters along route # Maximum depth: 99.943005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.943005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698928; longitude = -121.950436; captureRadius = 10; duration = 55; initialDepth = 59.963491; finalDepth = 59.943005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.943005 # Seafloor depth:-99.943005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 99.963491 meters looking forward 0.000000 meters along route # Maximum depth: 99.963491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.963491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699105; longitude = -121.950959; captureRadius = 10; duration = 55; initialDepth = 60.401239; finalDepth = 59.963491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.963491 # Seafloor depth:-99.963491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 100.401239 meters looking forward 0.000000 meters along route # Maximum depth: 100.401239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.401239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699285; longitude = -121.951493; captureRadius = 10; duration = 55; initialDepth = 60.576046; finalDepth = 60.401239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.401239 # Seafloor depth:-100.401239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 100.576046 meters looking forward 0.000000 meters along route # Maximum depth: 100.576046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.576046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699466; longitude = -121.952026; captureRadius = 10; duration = 55; initialDepth = 61.021722; finalDepth = 60.576046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.576046 # Seafloor depth:-100.576046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 101.021722 meters looking forward 0.000000 meters along route # Maximum depth: 101.021722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.021722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699647; longitude = -121.952563; captureRadius = 10; duration = 55; initialDepth = 61.037246; finalDepth = 61.021722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.021722 # Seafloor depth:-101.021722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 101.037246 meters looking forward 0.000000 meters along route # Maximum depth: 101.037246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.037246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699827; longitude = -121.953093; captureRadius = 10; duration = 55; initialDepth = 61.566622; finalDepth = 61.037246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.037246 # Seafloor depth:-101.037246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 101.566622 meters looking forward 0.000000 meters along route # Maximum depth: 101.566622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.566622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -121.953627; captureRadius = 10; duration = 55; initialDepth = 61.364769; finalDepth = 61.566622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.566622 # Seafloor depth:-101.566622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 101.364769 meters looking forward 0.000000 meters along route # Maximum depth: 101.364769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.364769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700187; longitude = -121.954160; captureRadius = 10; duration = 55; initialDepth = 61.710780; finalDepth = 61.364769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.364769 # Seafloor depth:-101.364769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 101.710780 meters looking forward 0.000000 meters along route # Maximum depth: 101.710780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.710780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700368; longitude = -121.954693; captureRadius = 10; duration = 55; initialDepth = 62.099715; finalDepth = 61.710780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.71078 # Seafloor depth:-101.710780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.099715 meters looking forward 0.000000 meters along route # Maximum depth: 102.099715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.099715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700548; longitude = -121.955227; captureRadius = 10; duration = 55; initialDepth = 62.686812; finalDepth = 62.099715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.099715 # Seafloor depth:-102.099715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.686812 meters looking forward 0.000000 meters along route # Maximum depth: 102.686812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.686812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700729; longitude = -121.955760; captureRadius = 10; duration = 55; initialDepth = 62.886839; finalDepth = 62.686812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.686812 # Seafloor depth:-102.686812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.886839 meters looking forward 0.000000 meters along route # Maximum depth: 102.886839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.886839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700909; longitude = -121.956294; captureRadius = 10; duration = 55; initialDepth = 63.029036; finalDepth = 62.886839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.886839 # Seafloor depth:-102.886839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.029036 meters looking forward 0.000000 meters along route # Maximum depth: 103.029036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.029036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701089; longitude = -121.956827; captureRadius = 10; duration = 55; initialDepth = 62.942878; finalDepth = 63.029036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.029036 # Seafloor depth:-103.029036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.942878 meters looking forward 0.000000 meters along route # Maximum depth: 102.942878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.942878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701275; longitude = -121.957377; captureRadius = 10; duration = 55; initialDepth = 62.950559; finalDepth = 62.942878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.942878 # Seafloor depth:-102.942878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.950559 meters looking forward 0.000000 meters along route # Maximum depth: 102.950559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.950559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701450; longitude = -121.957894; captureRadius = 10; duration = 55; initialDepth = 63.182460; finalDepth = 62.950559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.950559 # Seafloor depth:-102.950559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.182460 meters looking forward 0.000000 meters along route # Maximum depth: 103.182460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.182460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701631; longitude = -121.958427; captureRadius = 10; duration = 55; initialDepth = 62.856274; finalDepth = 63.182460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.18246 # Seafloor depth:-103.182460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.856274 meters looking forward 0.000000 meters along route # Maximum depth: 102.856274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.856274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701811; longitude = -121.958961; captureRadius = 10; duration = 55; initialDepth = 62.874628; finalDepth = 62.856274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.856274 # Seafloor depth:-102.856274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 102.874628 meters looking forward 0.000000 meters along route # Maximum depth: 102.874628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.874628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701995; longitude = -121.959504; captureRadius = 10; duration = 55; initialDepth = 63.351434; finalDepth = 62.874628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.874628 # Seafloor depth:-102.874628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.351434 meters looking forward 0.000000 meters along route # Maximum depth: 103.351434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.351434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702172; longitude = -121.960028; captureRadius = 10; duration = 55; initialDepth = 63.087877; finalDepth = 63.351434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.351434 # Seafloor depth:-103.351434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.087877 meters looking forward 0.000000 meters along route # Maximum depth: 103.087877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.087877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702352; longitude = -121.960561; captureRadius = 10; duration = 55; initialDepth = 63.829126; finalDepth = 63.087877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.087877 # Seafloor depth:-103.087877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.829126 meters looking forward 0.000000 meters along route # Maximum depth: 103.829126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.829126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702533; longitude = -121.961095; captureRadius = 10; duration = 55; initialDepth = 64.278880; finalDepth = 63.829126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.829126 # Seafloor depth:-103.829126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.278880 meters looking forward 0.000000 meters along route # Maximum depth: 104.278880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.278880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702714; longitude = -121.961631; captureRadius = 10; duration = 55; initialDepth = 64.696560; finalDepth = 64.278880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.27888 # Seafloor depth:-104.278880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.696560 meters looking forward 0.000000 meters along route # Maximum depth: 104.696560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.696560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702894; longitude = -121.962161; captureRadius = 10; duration = 55; initialDepth = 64.884497; finalDepth = 64.696560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.69656 # Seafloor depth:-104.696560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.884497 meters looking forward 0.000000 meters along route # Maximum depth: 104.884497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.884497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703074; longitude = -121.962695; captureRadius = 10; duration = 55; initialDepth = 64.008278; finalDepth = 64.884497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.884497 # Seafloor depth:-104.884497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.008278 meters looking forward 0.000000 meters along route # Maximum depth: 104.008278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.008278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703254; longitude = -121.963228; captureRadius = 10; duration = 55; initialDepth = 64.218074; finalDepth = 64.008278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.008278 # Seafloor depth:-104.008278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.218074 meters looking forward 0.000000 meters along route # Maximum depth: 104.218074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.218074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703435; longitude = -121.963762; captureRadius = 10; duration = 55; initialDepth = 63.835919; finalDepth = 64.218074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.218074 # Seafloor depth:-104.218074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 103.835919 meters looking forward 0.000000 meters along route # Maximum depth: 103.835919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.835919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703615; longitude = -121.964295; captureRadius = 10; duration = 55; initialDepth = 64.184226; finalDepth = 63.835919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.835919 # Seafloor depth:-103.835919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.184226 meters looking forward 0.000000 meters along route # Maximum depth: 104.184226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.184226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703796; longitude = -121.964829; captureRadius = 10; duration = 55; initialDepth = 64.379432; finalDepth = 64.184226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.184226 # Seafloor depth:-104.184226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.379432 meters looking forward 0.000000 meters along route # Maximum depth: 104.379432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.379432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703976; longitude = -121.965362; captureRadius = 10; duration = 55; initialDepth = 64.300570; finalDepth = 64.379432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.379432 # Seafloor depth:-104.379432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.300570 meters looking forward 0.000000 meters along route # Maximum depth: 104.300570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.300570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704156; longitude = -121.965895; captureRadius = 10; duration = 55; initialDepth = 64.256531; finalDepth = 64.300570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.30057 # Seafloor depth:-104.300570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.256531 meters looking forward 0.000000 meters along route # Maximum depth: 104.256531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.256531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704342; longitude = -121.966444; captureRadius = 10; duration = 55; initialDepth = 64.567335; finalDepth = 64.256531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.256531 # Seafloor depth:-104.256531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 104.567335 meters looking forward 0.000000 meters along route # Maximum depth: 104.567335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.567335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704517; longitude = -121.966962; captureRadius = 10; duration = 55; initialDepth = 65.304240; finalDepth = 64.567335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.567335 # Seafloor depth:-104.567335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 105.304240 meters looking forward 0.000000 meters along route # Maximum depth: 105.304240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.304240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704698; longitude = -121.967496; captureRadius = 10; duration = 55; initialDepth = 66.138873; finalDepth = 65.304240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.30424 # Seafloor depth:-105.304240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 106.138873 meters looking forward 0.000000 meters along route # Maximum depth: 106.138873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.138873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704878; longitude = -121.968029; captureRadius = 10; duration = 55; initialDepth = 66.495949; finalDepth = 66.138873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.138873 # Seafloor depth:-106.138873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 106.495949 meters looking forward 0.000000 meters along route # Maximum depth: 106.495949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.495949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705061; longitude = -121.968571; captureRadius = 10; duration = 55; initialDepth = 66.003870; finalDepth = 66.495949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.495949 # Seafloor depth:-106.495949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 106.003870 meters looking forward 0.000000 meters along route # Maximum depth: 106.003870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.003870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705239; longitude = -121.969096; captureRadius = 10; duration = 55; initialDepth = 65.055804; finalDepth = 66.003870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.00387 # Seafloor depth:-106.003870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 105.055804 meters looking forward 0.000000 meters along route # Maximum depth: 105.055804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.055804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705419; longitude = -121.969629; captureRadius = 10; duration = 55; initialDepth = 65.216598; finalDepth = 65.055804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.055804 # Seafloor depth:-105.055804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 105.216598 meters looking forward 0.000000 meters along route # Maximum depth: 105.216598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.216598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705600; longitude = -121.970163; captureRadius = 10; duration = 55; initialDepth = 68.074744; finalDepth = 65.216598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.216598 # Seafloor depth:-105.216598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 108.074744 meters looking forward 0.000000 meters along route # Maximum depth: 108.074744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.074744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705781; longitude = -121.970698; captureRadius = 10; duration = 55; initialDepth = 68.580579; finalDepth = 68.074744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.074744 # Seafloor depth:-108.074744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 108.580579 meters looking forward 0.000000 meters along route # Maximum depth: 108.580579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.580579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705960; longitude = -121.971230; captureRadius = 10; duration = 55; initialDepth = 71.827573; finalDepth = 68.580579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.580579 # Seafloor depth:-108.580579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 111.827573 meters looking forward 0.000000 meters along route # Maximum depth: 111.827573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.827573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706141; longitude = -121.971763; captureRadius = 10; duration = 55; initialDepth = 75.887804; finalDepth = 71.827573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.827573 # Seafloor depth:-111.827573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 115.887804 meters looking forward 0.000000 meters along route # Maximum depth: 115.887804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.887804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706321; longitude = -121.972297; captureRadius = 10; duration = 55; initialDepth = 79.985555; finalDepth = 75.887804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.887804 # Seafloor depth:-115.887804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 119.985555 meters looking forward 0.000000 meters along route # Maximum depth: 119.985555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.985555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706502; longitude = -121.972830; captureRadius = 10; duration = 55; initialDepth = 84.193218; finalDepth = 79.985555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.985555 # Seafloor depth:-119.985555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 124.193218 meters looking forward 0.000000 meters along route # Maximum depth: 124.193218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.193218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706682; longitude = -121.973363; captureRadius = 10; duration = 55; initialDepth = 88.421839; finalDepth = 84.193218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.193218 # Seafloor depth:-124.193218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 128.421839 meters looking forward 0.000000 meters along route # Maximum depth: 128.421839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.421839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706863; longitude = -121.973897; captureRadius = 10; duration = 55; initialDepth = 93.474700; finalDepth = 88.421839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:88.421839 # Seafloor depth:-128.421839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 133.474700 meters looking forward 0.000000 meters along route # Maximum depth: 133.474700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.474700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707043; longitude = -121.974430; captureRadius = 10; duration = 55; initialDepth = 102.879404; finalDepth = 93.474700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.4747 # Seafloor depth:-133.474700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 142.879404 meters looking forward 0.000000 meters along route # Maximum depth: 142.879404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.879404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707223; longitude = -121.974964; captureRadius = 10; duration = 55; initialDepth = 118.652938; finalDepth = 102.879404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.879404 # Seafloor depth:-142.879404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 158.652938 meters looking forward 0.000000 meters along route # Maximum depth: 158.652938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.652938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707409; longitude = -121.975512; captureRadius = 10; duration = 55; initialDepth = 133.995784; finalDepth = 118.652938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:118.652938 # Seafloor depth:-158.652938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 173.995784 meters looking forward 0.000000 meters along route # Maximum depth: 173.995784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.995784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707584; longitude = -121.976031; captureRadius = 10; duration = 55; initialDepth = 147.061340; finalDepth = 133.995784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:133.995784 # Seafloor depth:-173.995784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 187.061340 meters looking forward 0.000000 meters along route # Maximum depth: 187.061340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.061340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707765; longitude = -121.976564; captureRadius = 10; duration = 55; initialDepth = 158.853027; finalDepth = 147.061340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.06134 # Seafloor depth:-187.061340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 198.853027 meters looking forward 0.000000 meters along route # Maximum depth: 198.853027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.853027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707945; longitude = -121.977097; captureRadius = 10; duration = 55; initialDepth = 171.862986; finalDepth = 158.853027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:158.853027 # Seafloor depth:-198.853027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 211.862986 meters looking forward 0.000000 meters along route # Maximum depth: 211.862986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.862986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708128; longitude = -121.977639; captureRadius = 10; duration = 55; initialDepth = 184.400543; finalDepth = 171.862986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:171.862986 # Seafloor depth:-211.862986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 224.400543 meters looking forward 0.000000 meters along route # Maximum depth: 224.400543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.400543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708306; longitude = -121.978164; captureRadius = 10; duration = 55; initialDepth = 196.950983; finalDepth = 184.400543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:184.400543 # Seafloor depth:-224.400543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 236.950983 meters looking forward 0.000000 meters along route # Maximum depth: 236.950983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.950983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708486; longitude = -121.978698; captureRadius = 10; duration = 55; initialDepth = 209.193770; finalDepth = 196.950983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:196.950983 # Seafloor depth:-236.950983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 249.193770 meters looking forward 0.000000 meters along route # Maximum depth: 249.193770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.193770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708667; longitude = -121.979231; captureRadius = 10; duration = 55; initialDepth = 219.636405; finalDepth = 209.193770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.19377 # Seafloor depth:-249.193770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 259.636405 meters looking forward 0.000000 meters along route # Maximum depth: 259.636405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.636405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708848; longitude = -121.979766; captureRadius = 10; duration = 55; initialDepth = 231.455653; finalDepth = 219.636405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.636405 # Seafloor depth:-259.636405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 271.455653 meters looking forward 0.000000 meters along route # Maximum depth: 271.455653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.455653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709037; longitude = -121.980326; captureRadius = 10; duration = 55; initialDepth = 242.529207; finalDepth = 231.455653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.455653 # Seafloor depth:-271.455653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 282.529207 meters looking forward 0.000000 meters along route # Maximum depth: 282.529207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.529207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709226; longitude = -121.980885; captureRadius = 10; duration = 55; initialDepth = 251.963219; finalDepth = 242.529207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.529207 # Seafloor depth:-282.529207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 291.963219 meters looking forward 0.000000 meters along route # Maximum depth: 291.963219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.963219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709415; longitude = -121.981445; captureRadius = 10; duration = 55; initialDepth = 258.643473; finalDepth = 251.963219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.963219 # Seafloor depth:-291.963219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 298.643473 meters looking forward 0.000000 meters along route # Maximum depth: 298.643473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.643473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709605; longitude = -121.982005; captureRadius = 10; duration = 55; initialDepth = 265.689334; finalDepth = 258.643473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.643473 # Seafloor depth:-298.643473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 305.689334 meters looking forward 0.000000 meters along route # Maximum depth: 305.689334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.689334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709794; longitude = -121.982564; captureRadius = 10; duration = 55; initialDepth = 268.760326; finalDepth = 265.689334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.689334 # Seafloor depth:-305.689334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 308.760326 meters looking forward 0.000000 meters along route # Maximum depth: 308.760326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.760326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709983; longitude = -121.983124; captureRadius = 10; duration = 55; initialDepth = 265.293083; finalDepth = 268.760326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:268.760326 # Seafloor depth:-308.760326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 305.293083 meters looking forward 0.000000 meters along route # Maximum depth: 305.293083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.293083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710173; longitude = -121.983684; captureRadius = 10; duration = 55; initialDepth = 262.960008; finalDepth = 265.293083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.293083 # Seafloor depth:-305.293083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.384171 meters # Minimum depth: 302.960008 meters looking forward 0.000000 meters along route # Maximum depth: 302.960008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.960008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710362; longitude = -121.984244; captureRadius = 10; duration = 55; initialDepth = 259.842575; finalDepth = 262.960008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:262.960008 # Seafloor depth:-302.960008 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 55.384171 meters # Minimum depth: 299.842575 meters looking forward 0.000000 meters along route # Maximum depth: 299.842575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.842575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710543; longitude = -121.984779; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 242.320969; finalDepth = 259.842575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.842575 # Seafloor depth:-299.842575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 55.384171 meters # Minimum depth: 282.320969 meters looking forward 0.000000 meters along route # Maximum depth: 282.320969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.320969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710926; longitude = -121.984579; captureRadius = 10; duration = 55; initialDepth = 227.793368; finalDepth = 242.320969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.320969 # Seafloor depth:-282.320969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 55.384171 meters # Minimum depth: 267.793368 meters looking forward 0.000000 meters along route # Maximum depth: 267.793368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.793368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711373; longitude = -121.984346; captureRadius = 10; duration = 55; initialDepth = 218.264832; finalDepth = 227.793368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:227.793368 # Seafloor depth:-267.793368 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 55.384171 meters # Minimum depth: 258.264832 meters looking forward 0.000000 meters along route # Maximum depth: 258.264832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.264832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711790; longitude = -121.984129; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 212.191976; finalDepth = 218.264832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:218.264832 # Seafloor depth:-258.264832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 252.191976 meters looking forward 0.000000 meters along route # Maximum depth: 252.191976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.191976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711639; longitude = -121.983684; captureRadius = 10; duration = 55; initialDepth = 207.523465; finalDepth = 212.191976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:212.191976 # Seafloor depth:-252.191976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 247.523465 meters looking forward 0.000000 meters along route # Maximum depth: 247.523465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.523465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711463; longitude = -121.983162; captureRadius = 10; duration = 55; initialDepth = 206.746801; finalDepth = 207.523465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.523465 # Seafloor depth:-247.523465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 246.746801 meters looking forward 0.000000 meters along route # Maximum depth: 246.746801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.746801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711283; longitude = -121.982629; captureRadius = 10; duration = 55; initialDepth = 209.537800; finalDepth = 206.746801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.746801 # Seafloor depth:-246.746801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 249.537800 meters looking forward 0.000000 meters along route # Maximum depth: 249.537800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.537800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711102; longitude = -121.982095; captureRadius = 10; duration = 55; initialDepth = 207.904358; finalDepth = 209.537800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.5378 # Seafloor depth:-249.537800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 247.904358 meters looking forward 0.000000 meters along route # Maximum depth: 247.904358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.904358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710920; longitude = -121.981557; captureRadius = 10; duration = 55; initialDepth = 206.583545; finalDepth = 207.904358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.904358 # Seafloor depth:-247.904358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 246.583545 meters looking forward 0.000000 meters along route # Maximum depth: 246.583545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.583545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710741; longitude = -121.981028; captureRadius = 10; duration = 55; initialDepth = 203.698440; finalDepth = 206.583545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.583545 # Seafloor depth:-246.583545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 243.698440 meters looking forward 0.000000 meters along route # Maximum depth: 243.698440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.698440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710561; longitude = -121.980495; captureRadius = 10; duration = 55; initialDepth = 199.196206; finalDepth = 203.698440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:203.69844 # Seafloor depth:-243.698440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 239.196206 meters looking forward 0.000000 meters along route # Maximum depth: 239.196206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.196206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710381; longitude = -121.979962; captureRadius = 10; duration = 55; initialDepth = 192.969553; finalDepth = 199.196206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:199.196206 # Seafloor depth:-239.196206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 232.969553 meters looking forward 0.000000 meters along route # Maximum depth: 232.969553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.969553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710200; longitude = -121.979428; captureRadius = 10; duration = 55; initialDepth = 189.004932; finalDepth = 192.969553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.969553 # Seafloor depth:-232.969553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 229.004932 meters looking forward 0.000000 meters along route # Maximum depth: 229.004932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.004932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710020; longitude = -121.978895; captureRadius = 10; duration = 55; initialDepth = 185.984217; finalDepth = 189.004932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.004932 # Seafloor depth:-229.004932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 225.984217 meters looking forward 0.000000 meters along route # Maximum depth: 225.984217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.984217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709839; longitude = -121.978361; captureRadius = 10; duration = 55; initialDepth = 181.552462; finalDepth = 185.984217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:185.984217 # Seafloor depth:-225.984217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 221.552462 meters looking forward 0.000000 meters along route # Maximum depth: 221.552462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.552462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709659; longitude = -121.977828; captureRadius = 10; duration = 55; initialDepth = 174.325550; finalDepth = 181.552462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.552462 # Seafloor depth:-221.552462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 214.325550 meters looking forward 0.000000 meters along route # Maximum depth: 214.325550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.325550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709478; longitude = -121.977294; captureRadius = 10; duration = 55; initialDepth = 162.343091; finalDepth = 174.325550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.32555 # Seafloor depth:-214.325550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 202.343091 meters looking forward 0.000000 meters along route # Maximum depth: 202.343091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.343091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709298; longitude = -121.976761; captureRadius = 10; duration = 55; initialDepth = 150.617751; finalDepth = 162.343091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:162.343091 # Seafloor depth:-202.343091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 190.617751 meters looking forward 0.000000 meters along route # Maximum depth: 190.617751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.617751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709118; longitude = -121.976228; captureRadius = 10; duration = 55; initialDepth = 136.908104; finalDepth = 150.617751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.617751 # Seafloor depth:-190.617751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 176.908104 meters looking forward 0.000000 meters along route # Maximum depth: 176.908104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.908104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708937; longitude = -121.975694; captureRadius = 10; duration = 55; initialDepth = 120.636593; finalDepth = 136.908104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.908104 # Seafloor depth:-176.908104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 160.636593 meters looking forward 0.000000 meters along route # Maximum depth: 160.636593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.636593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708757; longitude = -121.975161; captureRadius = 10; duration = 55; initialDepth = 105.899149; finalDepth = 120.636593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:120.636593 # Seafloor depth:-160.636593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 145.899149 meters looking forward 0.000000 meters along route # Maximum depth: 145.899149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.899149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708573; longitude = -121.974616; captureRadius = 10; duration = 55; initialDepth = 96.841385; finalDepth = 105.899149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:105.899149 # Seafloor depth:-145.899149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 136.841385 meters looking forward 0.000000 meters along route # Maximum depth: 136.841385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.841385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708396; longitude = -121.974094; captureRadius = 10; duration = 55; initialDepth = 89.809064; finalDepth = 96.841385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.841385 # Seafloor depth:-136.841385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 129.809064 meters looking forward 0.000000 meters along route # Maximum depth: 129.809064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.809064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708216; longitude = -121.973560; captureRadius = 10; duration = 55; initialDepth = 84.498879; finalDepth = 89.809064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.809064 # Seafloor depth:-129.809064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 124.498879 meters looking forward 0.000000 meters along route # Maximum depth: 124.498879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.498879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708035; longitude = -121.973027; captureRadius = 10; duration = 55; initialDepth = 80.416930; finalDepth = 84.498879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.498879 # Seafloor depth:-124.498879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 120.416930 meters looking forward 0.000000 meters along route # Maximum depth: 120.416930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.416930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707853; longitude = -121.972489; captureRadius = 10; duration = 55; initialDepth = 77.766005; finalDepth = 80.416930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:80.41693 # Seafloor depth:-120.416930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 117.766005 meters looking forward 0.000000 meters along route # Maximum depth: 117.766005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.766005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707674; longitude = -121.971960; captureRadius = 10; duration = 55; initialDepth = 74.586338; finalDepth = 77.766005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.766005 # Seafloor depth:-117.766005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 114.586338 meters looking forward 0.000000 meters along route # Maximum depth: 114.586338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.586338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707494; longitude = -121.971427; captureRadius = 10; duration = 55; initialDepth = 72.189125; finalDepth = 74.586338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.586338 # Seafloor depth:-114.586338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 112.189125 meters looking forward 0.000000 meters along route # Maximum depth: 112.189125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.189125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707314; longitude = -121.970893; captureRadius = 10; duration = 55; initialDepth = 68.832383; finalDepth = 72.189125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.189125 # Seafloor depth:-112.189125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 108.832383 meters looking forward 0.000000 meters along route # Maximum depth: 108.832383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.832383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707133; longitude = -121.970360; captureRadius = 10; duration = 55; initialDepth = 66.719714; finalDepth = 68.832383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.832383 # Seafloor depth:-108.832383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 106.719714 meters looking forward 0.000000 meters along route # Maximum depth: 106.719714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.719714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706953; longitude = -121.969826; captureRadius = 10; duration = 55; initialDepth = 65.613856; finalDepth = 66.719714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.719714 # Seafloor depth:-106.719714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 105.613856 meters looking forward 0.000000 meters along route # Maximum depth: 105.613856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.613856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706772; longitude = -121.969293; captureRadius = 10; duration = 55; initialDepth = 64.984435; finalDepth = 65.613856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.613856 # Seafloor depth:-105.613856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.984435 meters looking forward 0.000000 meters along route # Maximum depth: 104.984435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.984435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706592; longitude = -121.968760; captureRadius = 10; duration = 55; initialDepth = 65.018574; finalDepth = 64.984435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.984435 # Seafloor depth:-104.984435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 105.018574 meters looking forward 0.000000 meters along route # Maximum depth: 105.018574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.018574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706412; longitude = -121.968226; captureRadius = 10; duration = 55; initialDepth = 64.413708; finalDepth = 65.018574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.018574 # Seafloor depth:-105.018574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.413708 meters looking forward 0.000000 meters along route # Maximum depth: 104.413708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.413708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706225; longitude = -121.967676; captureRadius = 10; duration = 55; initialDepth = 64.248148; finalDepth = 64.413708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.413708 # Seafloor depth:-104.413708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.248148 meters looking forward 0.000000 meters along route # Maximum depth: 104.248148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.248148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706051; longitude = -121.967159; captureRadius = 10; duration = 55; initialDepth = 63.746181; finalDepth = 64.248148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.248148 # Seafloor depth:-104.248148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.746181 meters looking forward 0.000000 meters along route # Maximum depth: 103.746181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.746181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705870; longitude = -121.966626; captureRadius = 10; duration = 55; initialDepth = 63.959869; finalDepth = 63.746181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.746181 # Seafloor depth:-103.746181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.959869 meters looking forward 0.000000 meters along route # Maximum depth: 103.959869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.959869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705690; longitude = -121.966092; captureRadius = 10; duration = 55; initialDepth = 64.418887; finalDepth = 63.959869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.959869 # Seafloor depth:-103.959869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.418887 meters looking forward 0.000000 meters along route # Maximum depth: 104.418887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.418887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705506; longitude = -121.965549; captureRadius = 10; duration = 55; initialDepth = 63.780100; finalDepth = 64.418887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.418887 # Seafloor depth:-104.418887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.780100 meters looking forward 0.000000 meters along route # Maximum depth: 103.780100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.780100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705329; longitude = -121.965026; captureRadius = 10; duration = 55; initialDepth = 63.641425; finalDepth = 63.780100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.7801 # Seafloor depth:-103.780100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.641425 meters looking forward 0.000000 meters along route # Maximum depth: 103.641425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.641425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705149; longitude = -121.964492; captureRadius = 10; duration = 55; initialDepth = 63.862211; finalDepth = 63.641425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.641425 # Seafloor depth:-103.641425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.862211 meters looking forward 0.000000 meters along route # Maximum depth: 103.862211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.862211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704968; longitude = -121.963959; captureRadius = 10; duration = 55; initialDepth = 63.881206; finalDepth = 63.862211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.862211 # Seafloor depth:-103.862211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.881206 meters looking forward 0.000000 meters along route # Maximum depth: 103.881206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.881206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704787; longitude = -121.963422; captureRadius = 10; duration = 55; initialDepth = 64.041838; finalDepth = 63.881206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.881206 # Seafloor depth:-103.881206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.041838 meters looking forward 0.000000 meters along route # Maximum depth: 104.041838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.041838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704607; longitude = -121.962892; captureRadius = 10; duration = 55; initialDepth = 64.462295; finalDepth = 64.041838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.041838 # Seafloor depth:-104.041838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.462295 meters looking forward 0.000000 meters along route # Maximum depth: 104.462295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.462295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704427; longitude = -121.962358; captureRadius = 10; duration = 55; initialDepth = 64.666875; finalDepth = 64.462295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.462295 # Seafloor depth:-104.462295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.666875 meters looking forward 0.000000 meters along route # Maximum depth: 104.666875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.666875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704247; longitude = -121.961825; captureRadius = 10; duration = 55; initialDepth = 64.694830; finalDepth = 64.666875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.666875 # Seafloor depth:-104.666875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.694830 meters looking forward 0.000000 meters along route # Maximum depth: 104.694830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.694830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704066; longitude = -121.961292; captureRadius = 10; duration = 55; initialDepth = 64.665492; finalDepth = 64.694830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.69483 # Seafloor depth:-104.694830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.665492 meters looking forward 0.000000 meters along route # Maximum depth: 104.665492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.665492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703886; longitude = -121.960758; captureRadius = 10; duration = 55; initialDepth = 64.220152; finalDepth = 64.665492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.665492 # Seafloor depth:-104.665492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.220152 meters looking forward 0.000000 meters along route # Maximum depth: 104.220152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.220152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703705; longitude = -121.960225; captureRadius = 10; duration = 55; initialDepth = 64.041916; finalDepth = 64.220152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.220152 # Seafloor depth:-104.220152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.041916 meters looking forward 0.000000 meters along route # Maximum depth: 104.041916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.041916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703525; longitude = -121.959691; captureRadius = 10; duration = 55; initialDepth = 64.097753; finalDepth = 64.041916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.041916 # Seafloor depth:-104.041916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 104.097753 meters looking forward 0.000000 meters along route # Maximum depth: 104.097753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.097753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703345; longitude = -121.959158; captureRadius = 10; duration = 55; initialDepth = 63.771119; finalDepth = 64.097753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.097753 # Seafloor depth:-104.097753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.771119 meters looking forward 0.000000 meters along route # Maximum depth: 103.771119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.771119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703159; longitude = -121.958608; captureRadius = 10; duration = 55; initialDepth = 63.492080; finalDepth = 63.771119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.771119 # Seafloor depth:-103.771119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.492080 meters looking forward 0.000000 meters along route # Maximum depth: 103.492080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.492080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702984; longitude = -121.958091; captureRadius = 10; duration = 55; initialDepth = 63.363490; finalDepth = 63.492080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.49208 # Seafloor depth:-103.492080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.363490 meters looking forward 0.000000 meters along route # Maximum depth: 103.363490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.363490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702803; longitude = -121.957558; captureRadius = 10; duration = 55; initialDepth = 63.089443; finalDepth = 63.363490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.36349 # Seafloor depth:-103.363490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.089443 meters looking forward 0.000000 meters along route # Maximum depth: 103.089443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.089443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702623; longitude = -121.957024; captureRadius = 10; duration = 55; initialDepth = 63.113766; finalDepth = 63.089443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.089443 # Seafloor depth:-103.089443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.113766 meters looking forward 0.000000 meters along route # Maximum depth: 103.113766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.113766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702439; longitude = -121.956481; captureRadius = 10; duration = 55; initialDepth = 63.147530; finalDepth = 63.113766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.113766 # Seafloor depth:-103.113766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.147530 meters looking forward 0.000000 meters along route # Maximum depth: 103.147530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.147530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702262; longitude = -121.955957; captureRadius = 10; duration = 55; initialDepth = 63.056532; finalDepth = 63.147530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.14753 # Seafloor depth:-103.147530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 103.056532 meters looking forward 0.000000 meters along route # Maximum depth: 103.056532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.056532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702082; longitude = -121.955424; captureRadius = 10; duration = 55; initialDepth = 62.656628; finalDepth = 63.056532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.056532 # Seafloor depth:-103.056532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 102.656628 meters looking forward 0.000000 meters along route # Maximum depth: 102.656628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.656628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701901; longitude = -121.954890; captureRadius = 10; duration = 55; initialDepth = 61.900929; finalDepth = 62.656628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.656628 # Seafloor depth:-102.656628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.900929 meters looking forward 0.000000 meters along route # Maximum depth: 101.900929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.900929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701720; longitude = -121.954354; captureRadius = 10; duration = 55; initialDepth = 61.693334; finalDepth = 61.900929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.900929 # Seafloor depth:-101.900929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.693334 meters looking forward 0.000000 meters along route # Maximum depth: 101.693334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.693334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701540; longitude = -121.953824; captureRadius = 10; duration = 55; initialDepth = 61.404950; finalDepth = 61.693334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.693334 # Seafloor depth:-101.693334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.404950 meters looking forward 0.000000 meters along route # Maximum depth: 101.404950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.404950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701360; longitude = -121.953290; captureRadius = 10; duration = 55; initialDepth = 61.379735; finalDepth = 61.404950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.40495 # Seafloor depth:-101.404950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.379735 meters looking forward 0.000000 meters along route # Maximum depth: 101.379735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.379735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701180; longitude = -121.952757; captureRadius = 10; duration = 55; initialDepth = 61.153229; finalDepth = 61.379735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.379735 # Seafloor depth:-101.379735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.153229 meters looking forward 0.000000 meters along route # Maximum depth: 101.153229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.153229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700999; longitude = -121.952223; captureRadius = 10; duration = 55; initialDepth = 61.260326; finalDepth = 61.153229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.153229 # Seafloor depth:-101.153229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 101.260326 meters looking forward 0.000000 meters along route # Maximum depth: 101.260326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.260326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700819; longitude = -121.951690; captureRadius = 10; duration = 55; initialDepth = 60.829357; finalDepth = 61.260326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.260326 # Seafloor depth:-101.260326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 100.829357 meters looking forward 0.000000 meters along route # Maximum depth: 100.829357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.829357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700638; longitude = -121.951156; captureRadius = 10; duration = 55; initialDepth = 60.587700; finalDepth = 60.829357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.829357 # Seafloor depth:-100.829357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 100.587700 meters looking forward 0.000000 meters along route # Maximum depth: 100.587700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.587700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700458; longitude = -121.950623; captureRadius = 10; duration = 55; initialDepth = 60.381145; finalDepth = 60.587700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.5877 # Seafloor depth:-100.587700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 100.381145 meters looking forward 0.000000 meters along route # Maximum depth: 100.381145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.381145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700278; longitude = -121.950090; captureRadius = 10; duration = 55; initialDepth = 60.394582; finalDepth = 60.381145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.381145 # Seafloor depth:-100.381145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 100.394582 meters looking forward 0.000000 meters along route # Maximum depth: 100.394582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.394582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700092; longitude = -121.949541; captureRadius = 10; duration = 55; initialDepth = 60.363070; finalDepth = 60.394582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.394582 # Seafloor depth:-100.394582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 100.363070 meters looking forward 0.000000 meters along route # Maximum depth: 100.363070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.363070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699917; longitude = -121.949023; captureRadius = 10; duration = 55; initialDepth = 59.768502; finalDepth = 60.363070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.36307 # Seafloor depth:-100.363070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 99.768502 meters looking forward 0.000000 meters along route # Maximum depth: 99.768502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.768502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699736; longitude = -121.948489; captureRadius = 10; duration = 55; initialDepth = 59.321384; finalDepth = 59.768502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.768502 # Seafloor depth:-99.768502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 99.321384 meters looking forward 0.000000 meters along route # Maximum depth: 99.321384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.321384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699556; longitude = -121.947956; captureRadius = 10; duration = 55; initialDepth = 59.069592; finalDepth = 59.321384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.321384 # Seafloor depth:-99.321384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 99.069592 meters looking forward 0.000000 meters along route # Maximum depth: 99.069592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.069592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699373; longitude = -121.947414; captureRadius = 10; duration = 55; initialDepth = 58.981365; finalDepth = 59.069592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.069592 # Seafloor depth:-99.069592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 98.981365 meters looking forward 0.000000 meters along route # Maximum depth: 98.981365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.981365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699195; longitude = -121.946889; captureRadius = 10; duration = 55; initialDepth = 58.644298; finalDepth = 58.981365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.981365 # Seafloor depth:-98.981365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 98.644298 meters looking forward 0.000000 meters along route # Maximum depth: 98.644298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.644298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699015; longitude = -121.946356; captureRadius = 10; duration = 55; initialDepth = 58.333456; finalDepth = 58.644298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.644298 # Seafloor depth:-98.644298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 98.333456 meters looking forward 0.000000 meters along route # Maximum depth: 98.333456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.333456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698834; longitude = -121.945822; captureRadius = 10; duration = 55; initialDepth = 57.352889; finalDepth = 58.333456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.333456 # Seafloor depth:-98.333456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.352889 meters looking forward 0.000000 meters along route # Maximum depth: 97.352889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.352889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698653; longitude = -121.945287; captureRadius = 10; duration = 55; initialDepth = 56.285726; finalDepth = 57.352889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.352889 # Seafloor depth:-97.352889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 96.285726 meters looking forward 0.000000 meters along route # Maximum depth: 96.285726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.285726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698473; longitude = -121.944755; captureRadius = 10; duration = 55; initialDepth = 55.540820; finalDepth = 56.285726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.285726 # Seafloor depth:-96.285726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 95.540820 meters looking forward 0.000000 meters along route # Maximum depth: 95.540820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.540820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698293; longitude = -121.944222; captureRadius = 10; duration = 55; initialDepth = 52.406622; finalDepth = 55.540820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.54082 # Seafloor depth:-95.540820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 92.406622 meters looking forward 0.000000 meters along route # Maximum depth: 92.406622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.406622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698113; longitude = -121.943688; captureRadius = 10; duration = 55; initialDepth = 36.227541; finalDepth = 52.406622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.406622 # Seafloor depth:-92.406622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 76.227541 meters looking forward 0.000000 meters along route # Maximum depth: 76.227541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.227541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697932; longitude = -121.943155; captureRadius = 10; duration = 55; initialDepth = 43.187153; finalDepth = 36.227541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:36.227541 # Seafloor depth:-76.227541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 83.187153 meters looking forward 0.000000 meters along route # Maximum depth: 83.187153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.187153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697752; longitude = -121.942622; captureRadius = 10; duration = 55; initialDepth = 44.635367; finalDepth = 43.187153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:43.187153 # Seafloor depth:-83.187153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 84.635367 meters looking forward 0.000000 meters along route # Maximum depth: 84.635367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.635367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697571; longitude = -121.942088; captureRadius = 10; duration = 55; initialDepth = 47.277734; finalDepth = 44.635367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.635367 # Seafloor depth:-84.635367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 87.277734 meters looking forward 0.000000 meters along route # Maximum depth: 87.277734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.277734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697391; longitude = -121.941555; captureRadius = 10; duration = 55; initialDepth = 49.447409; finalDepth = 47.277734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.277734 # Seafloor depth:-87.277734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 89.447409 meters looking forward 0.000000 meters along route # Maximum depth: 89.447409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.447409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697211; longitude = -121.941021; captureRadius = 10; duration = 55; initialDepth = 49.749105; finalDepth = 49.447409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.447409 # Seafloor depth:-89.447409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 89.749105 meters looking forward 0.000000 meters along route # Maximum depth: 89.749105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.749105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697025; longitude = -121.940473; captureRadius = 10; duration = 55; initialDepth = 49.370830; finalDepth = 49.749105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.749105 # Seafloor depth:-89.749105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 89.370830 meters looking forward 0.000000 meters along route # Maximum depth: 89.370830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.370830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696850; longitude = -121.939954; captureRadius = 10; duration = 55; initialDepth = 46.882909; finalDepth = 49.370830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.37083 # Seafloor depth:-89.370830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 86.882909 meters looking forward 0.000000 meters along route # Maximum depth: 86.882909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.882909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696669; longitude = -121.939421; captureRadius = 10; duration = 55; initialDepth = 44.032355; finalDepth = 46.882909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.882909 # Seafloor depth:-86.882909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 84.032355 meters looking forward 0.000000 meters along route # Maximum depth: 84.032355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.032355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696489; longitude = -121.938888; captureRadius = 10; duration = 55; initialDepth = 48.293923; finalDepth = 44.032355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.032355 # Seafloor depth:-84.032355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 88.293923 meters looking forward 0.000000 meters along route # Maximum depth: 88.293923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.293923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696306; longitude = -121.938346; captureRadius = 10; duration = 55; initialDepth = 54.386966; finalDepth = 48.293923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.293923 # Seafloor depth:-88.293923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 94.386966 meters looking forward 0.000000 meters along route # Maximum depth: 94.386966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.386966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696128; longitude = -121.937821; captureRadius = 10; duration = 55; initialDepth = 56.572993; finalDepth = 54.386966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.386966 # Seafloor depth:-94.386966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 96.572993 meters looking forward 0.000000 meters along route # Maximum depth: 96.572993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.572993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695948; longitude = -121.937287; captureRadius = 10; duration = 55; initialDepth = 57.196775; finalDepth = 56.572993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.572993 # Seafloor depth:-96.572993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.196775 meters looking forward 0.000000 meters along route # Maximum depth: 97.196775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.196775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695767; longitude = -121.936754; captureRadius = 10; duration = 55; initialDepth = 57.382392; finalDepth = 57.196775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.196775 # Seafloor depth:-97.196775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.382392 meters looking forward 0.000000 meters along route # Maximum depth: 97.382392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.382392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695586; longitude = -121.936219; captureRadius = 10; duration = 55; initialDepth = 57.182184; finalDepth = 57.382392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.382392 # Seafloor depth:-97.382392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.182184 meters looking forward 0.000000 meters along route # Maximum depth: 97.182184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.182184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695397; longitude = -121.935660; captureRadius = 10; duration = 55; initialDepth = 57.705044; finalDepth = 57.182184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.182184 # Seafloor depth:-97.182184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.705044 meters looking forward 0.000000 meters along route # Maximum depth: 97.705044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.705044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695208; longitude = -121.935100; captureRadius = 10; duration = 55; initialDepth = 57.900513; finalDepth = 57.705044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.705044 # Seafloor depth:-97.705044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.900513 meters looking forward 0.000000 meters along route # Maximum depth: 97.900513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.900513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695019; longitude = -121.934540; captureRadius = 10; duration = 55; initialDepth = 57.754326; finalDepth = 57.900513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.900513 # Seafloor depth:-97.900513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.754326 meters looking forward 0.000000 meters along route # Maximum depth: 97.754326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.754326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694829; longitude = -121.933980; captureRadius = 10; duration = 55; initialDepth = 57.715972; finalDepth = 57.754326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.754326 # Seafloor depth:-97.754326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.715972 meters looking forward 0.000000 meters along route # Maximum depth: 97.715972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.715972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694640; longitude = -121.933421; captureRadius = 10; duration = 55; initialDepth = 57.616926; finalDepth = 57.715972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.715972 # Seafloor depth:-97.715972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.384171 meters # Minimum depth: 97.616926 meters looking forward 0.000000 meters along route # Maximum depth: 97.616926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.616926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694451; longitude = -121.932861; captureRadius = 10; duration = 55; initialDepth = 57.577103; finalDepth = 57.616926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.616926 # Seafloor depth:-97.616926 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 55.384171 meters # Minimum depth: 97.577103 meters looking forward 0.000000 meters along route # Maximum depth: 97.577103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.577103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694243; longitude = -121.932247; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 57.533817; finalDepth = 57.577103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.577103 # Seafloor depth:-97.577103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 55.384171 meters # Minimum depth: 97.533817 meters looking forward 0.000000 meters along route # Maximum depth: 97.533817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.533817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694595; longitude = -121.932063; captureRadius = 10; duration = 55; initialDepth = 57.680390; finalDepth = 57.533817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.533817 # Seafloor depth:-97.533817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 55.384171 meters # Minimum depth: 97.680390 meters looking forward 0.000000 meters along route # Maximum depth: 97.680390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.680390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695046; longitude = -121.931828; captureRadius = 10; duration = 55; initialDepth = 57.585815; finalDepth = 57.680390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.68039 # Seafloor depth:-97.680390 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 55.384171 meters # Minimum depth: 97.585815 meters looking forward 0.000000 meters along route # Maximum depth: 97.585815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.585815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695489; longitude = -121.931596; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 57.654936; finalDepth = 57.585815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.585815 # Seafloor depth:-97.585815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.654936 meters looking forward 0.000000 meters along route # Maximum depth: 97.654936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.654936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695500; longitude = -121.931630; captureRadius = 10; duration = 55; initialDepth = 57.594605; finalDepth = 57.654936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.654936 # Seafloor depth:-97.654936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.594605 meters looking forward 0.000000 meters along route # Maximum depth: 97.594605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.594605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695677; longitude = -121.932152; captureRadius = 10; duration = 55; initialDepth = 57.627775; finalDepth = 57.594605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.594605 # Seafloor depth:-97.594605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.627775 meters looking forward 0.000000 meters along route # Maximum depth: 97.627775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.627775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695857; longitude = -121.932686; captureRadius = 10; duration = 55; initialDepth = 57.748089; finalDepth = 57.627775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.627775 # Seafloor depth:-97.627775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.748089 meters looking forward 0.000000 meters along route # Maximum depth: 97.748089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.748089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696038; longitude = -121.933219; captureRadius = 10; duration = 55; initialDepth = 57.881319; finalDepth = 57.748089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.748089 # Seafloor depth:-97.748089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.881319 meters looking forward 0.000000 meters along route # Maximum depth: 97.881319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.881319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696220; longitude = -121.933756; captureRadius = 10; duration = 55; initialDepth = 58.237482; finalDepth = 57.881319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.881319 # Seafloor depth:-97.881319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 98.237482 meters looking forward 0.000000 meters along route # Maximum depth: 98.237482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.237482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696399; longitude = -121.934286; captureRadius = 10; duration = 55; initialDepth = 57.397546; finalDepth = 58.237482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.237482 # Seafloor depth:-98.237482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.397546 meters looking forward 0.000000 meters along route # Maximum depth: 97.397546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.397546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696579; longitude = -121.934819; captureRadius = 10; duration = 55; initialDepth = 57.262846; finalDepth = 57.397546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.397546 # Seafloor depth:-97.397546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.262846 meters looking forward 0.000000 meters along route # Maximum depth: 97.262846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.262846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696760; longitude = -121.935353; captureRadius = 10; duration = 55; initialDepth = 57.415812; finalDepth = 57.262846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.262846 # Seafloor depth:-97.262846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.415812 meters looking forward 0.000000 meters along route # Maximum depth: 97.415812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.415812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696940; longitude = -121.935886; captureRadius = 10; duration = 55; initialDepth = 57.293490; finalDepth = 57.415812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.415812 # Seafloor depth:-97.415812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.293490 meters looking forward 0.000000 meters along route # Maximum depth: 97.293490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.293490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697120; longitude = -121.936420; captureRadius = 10; duration = 55; initialDepth = 57.029456; finalDepth = 57.293490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.29349 # Seafloor depth:-97.293490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.029456 meters looking forward 0.000000 meters along route # Maximum depth: 97.029456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.029456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697301; longitude = -121.936953; captureRadius = 10; duration = 55; initialDepth = 54.758905; finalDepth = 57.029456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.029456 # Seafloor depth:-97.029456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 94.758905 meters looking forward 0.000000 meters along route # Maximum depth: 94.758905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.758905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697481; longitude = -121.937486; captureRadius = 10; duration = 55; initialDepth = 52.651794; finalDepth = 54.758905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.758905 # Seafloor depth:-94.758905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 92.651794 meters looking forward 0.000000 meters along route # Maximum depth: 92.651794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.651794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697662; longitude = -121.938020; captureRadius = 10; duration = 55; initialDepth = 53.100151; finalDepth = 52.651794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.651794 # Seafloor depth:-92.651794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 93.100151 meters looking forward 0.000000 meters along route # Maximum depth: 93.100151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.100151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697848; longitude = -121.938570; captureRadius = 10; duration = 55; initialDepth = 53.048921; finalDepth = 53.100151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.100151 # Seafloor depth:-93.100151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 93.048921 meters looking forward 0.000000 meters along route # Maximum depth: 93.048921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.048921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698022; longitude = -121.939087; captureRadius = 10; duration = 55; initialDepth = 52.476303; finalDepth = 53.048921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.048921 # Seafloor depth:-93.048921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 92.476303 meters looking forward 0.000000 meters along route # Maximum depth: 92.476303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.476303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698203; longitude = -121.939620; captureRadius = 10; duration = 55; initialDepth = 51.709890; finalDepth = 52.476303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.476303 # Seafloor depth:-92.476303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 91.709890 meters looking forward 0.000000 meters along route # Maximum depth: 91.709890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.709890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698383; longitude = -121.940154; captureRadius = 10; duration = 55; initialDepth = 51.087070; finalDepth = 51.709890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.70989 # Seafloor depth:-91.709890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 91.087070 meters looking forward 0.000000 meters along route # Maximum depth: 91.087070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.087070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698567; longitude = -121.940697; captureRadius = 10; duration = 55; initialDepth = 48.627871; finalDepth = 51.087070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.08707 # Seafloor depth:-91.087070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 88.627871 meters looking forward 0.000000 meters along route # Maximum depth: 88.627871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.627871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698744; longitude = -121.941221; captureRadius = 10; duration = 55; initialDepth = 49.864325; finalDepth = 48.627871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.627871 # Seafloor depth:-88.627871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 89.864325 meters looking forward 0.000000 meters along route # Maximum depth: 89.864325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.864325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698924; longitude = -121.941754; captureRadius = 10; duration = 55; initialDepth = 54.514726; finalDepth = 49.864325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.864325 # Seafloor depth:-89.864325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 94.514726 meters looking forward 0.000000 meters along route # Maximum depth: 94.514726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.514726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699105; longitude = -121.942287; captureRadius = 10; duration = 55; initialDepth = 56.172642; finalDepth = 54.514726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.514726 # Seafloor depth:-94.514726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 96.172642 meters looking forward 0.000000 meters along route # Maximum depth: 96.172642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.172642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699286; longitude = -121.942824; captureRadius = 10; duration = 55; initialDepth = 57.196677; finalDepth = 56.172642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.172642 # Seafloor depth:-96.172642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.196677 meters looking forward 0.000000 meters along route # Maximum depth: 97.196677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.196677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699466; longitude = -121.943354; captureRadius = 10; duration = 55; initialDepth = 57.406990; finalDepth = 57.196677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.196677 # Seafloor depth:-97.196677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 97.406990 meters looking forward 0.000000 meters along route # Maximum depth: 97.406990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.406990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699646; longitude = -121.943888; captureRadius = 10; duration = 55; initialDepth = 58.169054; finalDepth = 57.406990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.40699 # Seafloor depth:-97.406990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 98.169054 meters looking forward 0.000000 meters along route # Maximum depth: 98.169054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.169054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699827; longitude = -121.944421; captureRadius = 10; duration = 55; initialDepth = 58.797180; finalDepth = 58.169054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.169054 # Seafloor depth:-98.169054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 98.797180 meters looking forward 0.000000 meters along route # Maximum depth: 98.797180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.797180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -121.944955; captureRadius = 10; duration = 55; initialDepth = 59.137771; finalDepth = 58.797180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.79718 # Seafloor depth:-98.797180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 99.137771 meters looking forward 0.000000 meters along route # Maximum depth: 99.137771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.137771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700187; longitude = -121.945488; captureRadius = 10; duration = 55; initialDepth = 59.374492; finalDepth = 59.137771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.137771 # Seafloor depth:-99.137771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 99.374492 meters looking forward 0.000000 meters along route # Maximum depth: 99.374492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.374492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700368; longitude = -121.946021; captureRadius = 10; duration = 55; initialDepth = 59.188335; finalDepth = 59.374492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.374492 # Seafloor depth:-99.374492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 99.188335 meters looking forward 0.000000 meters along route # Maximum depth: 99.188335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.188335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700548; longitude = -121.946555; captureRadius = 10; duration = 55; initialDepth = 59.403337; finalDepth = 59.188335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.188335 # Seafloor depth:-99.188335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 99.403337 meters looking forward 0.000000 meters along route # Maximum depth: 99.403337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.403337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700729; longitude = -121.947088; captureRadius = 10; duration = 55; initialDepth = 59.856262; finalDepth = 59.403337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.403337 # Seafloor depth:-99.403337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 99.856262 meters looking forward 0.000000 meters along route # Maximum depth: 99.856262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.856262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700914; longitude = -121.947638; captureRadius = 10; duration = 55; initialDepth = 60.761875; finalDepth = 59.856262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.856262 # Seafloor depth:-99.856262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 100.761875 meters looking forward 0.000000 meters along route # Maximum depth: 100.761875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.761875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701089; longitude = -121.948155; captureRadius = 10; duration = 55; initialDepth = 61.047289; finalDepth = 60.761875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.761875 # Seafloor depth:-100.761875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.047289 meters looking forward 0.000000 meters along route # Maximum depth: 101.047289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.047289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701270; longitude = -121.948689; captureRadius = 10; duration = 55; initialDepth = 60.956774; finalDepth = 61.047289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.047289 # Seafloor depth:-101.047289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 100.956774 meters looking forward 0.000000 meters along route # Maximum depth: 100.956774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.956774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701450; longitude = -121.949222; captureRadius = 10; duration = 55; initialDepth = 60.888589; finalDepth = 60.956774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.956774 # Seafloor depth:-100.956774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 100.888589 meters looking forward 0.000000 meters along route # Maximum depth: 100.888589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.888589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701634; longitude = -121.949765; captureRadius = 10; duration = 55; initialDepth = 60.911092; finalDepth = 60.888589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.888589 # Seafloor depth:-100.888589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 100.911092 meters looking forward 0.000000 meters along route # Maximum depth: 100.911092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.911092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701811; longitude = -121.950289; captureRadius = 10; duration = 55; initialDepth = 61.226471; finalDepth = 60.911092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.911092 # Seafloor depth:-100.911092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.226471 meters looking forward 0.000000 meters along route # Maximum depth: 101.226471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.226471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701991; longitude = -121.950822; captureRadius = 10; duration = 55; initialDepth = 61.345709; finalDepth = 61.226471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.226471 # Seafloor depth:-101.226471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.345709 meters looking forward 0.000000 meters along route # Maximum depth: 101.345709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.345709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702172; longitude = -121.951356; captureRadius = 10; duration = 55; initialDepth = 61.419768; finalDepth = 61.345709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.345709 # Seafloor depth:-101.345709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.419768 meters looking forward 0.000000 meters along route # Maximum depth: 101.419768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.419768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702353; longitude = -121.951892; captureRadius = 10; duration = 55; initialDepth = 61.471571; finalDepth = 61.419768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.419768 # Seafloor depth:-101.419768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.471571 meters looking forward 0.000000 meters along route # Maximum depth: 101.471571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.471571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702533; longitude = -121.952423; captureRadius = 10; duration = 55; initialDepth = 61.752753; finalDepth = 61.471571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.471571 # Seafloor depth:-101.471571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 101.752753 meters looking forward 0.000000 meters along route # Maximum depth: 101.752753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.752753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702713; longitude = -121.952956; captureRadius = 10; duration = 55; initialDepth = 62.326529; finalDepth = 61.752753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.752753 # Seafloor depth:-101.752753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 102.326529 meters looking forward 0.000000 meters along route # Maximum depth: 102.326529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.326529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702894; longitude = -121.953490; captureRadius = 10; duration = 55; initialDepth = 63.146957; finalDepth = 62.326529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.326529 # Seafloor depth:-102.326529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.146957 meters looking forward 0.000000 meters along route # Maximum depth: 103.146957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.146957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703074; longitude = -121.954023; captureRadius = 10; duration = 55; initialDepth = 63.656870; finalDepth = 63.146957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.146957 # Seafloor depth:-103.146957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.656870 meters looking forward 0.000000 meters along route # Maximum depth: 103.656870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.656870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703254; longitude = -121.954557; captureRadius = 10; duration = 55; initialDepth = 63.377979; finalDepth = 63.656870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.65687 # Seafloor depth:-103.656870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.377979 meters looking forward 0.000000 meters along route # Maximum depth: 103.377979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.377979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703435; longitude = -121.955090; captureRadius = 10; duration = 55; initialDepth = 63.350479; finalDepth = 63.377979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.377979 # Seafloor depth:-103.377979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.350479 meters looking forward 0.000000 meters along route # Maximum depth: 103.350479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.350479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703615; longitude = -121.955623; captureRadius = 10; duration = 55; initialDepth = 63.602356; finalDepth = 63.350479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.350479 # Seafloor depth:-103.350479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.602356 meters looking forward 0.000000 meters along route # Maximum depth: 103.602356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.602356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703796; longitude = -121.956157; captureRadius = 10; duration = 55; initialDepth = 63.909519; finalDepth = 63.602356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.602356 # Seafloor depth:-103.602356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.909519 meters looking forward 0.000000 meters along route # Maximum depth: 103.909519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.909519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703981; longitude = -121.956705; captureRadius = 10; duration = 55; initialDepth = 64.129809; finalDepth = 63.909519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.909519 # Seafloor depth:-103.909519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.129809 meters looking forward 0.000000 meters along route # Maximum depth: 104.129809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.129809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704156; longitude = -121.957224; captureRadius = 10; duration = 55; initialDepth = 64.253048; finalDepth = 64.129809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.129809 # Seafloor depth:-104.129809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.253048 meters looking forward 0.000000 meters along route # Maximum depth: 104.253048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.253048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704337; longitude = -121.957757; captureRadius = 10; duration = 55; initialDepth = 65.120858; finalDepth = 64.253048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.253048 # Seafloor depth:-104.253048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.120858 meters looking forward 0.000000 meters along route # Maximum depth: 105.120858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.120858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704517; longitude = -121.958291; captureRadius = 10; duration = 55; initialDepth = 64.806710; finalDepth = 65.120858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.120858 # Seafloor depth:-105.120858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.806710 meters looking forward 0.000000 meters along route # Maximum depth: 104.806710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.806710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704700; longitude = -121.958832; captureRadius = 10; duration = 55; initialDepth = 64.965836; finalDepth = 64.806710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.80671 # Seafloor depth:-104.806710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.965836 meters looking forward 0.000000 meters along route # Maximum depth: 104.965836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.965836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704878; longitude = -121.959357; captureRadius = 10; duration = 55; initialDepth = 65.427174; finalDepth = 64.965836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.965836 # Seafloor depth:-104.965836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.427174 meters looking forward 0.000000 meters along route # Maximum depth: 105.427174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.427174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705058; longitude = -121.959891; captureRadius = 10; duration = 55; initialDepth = 65.760366; finalDepth = 65.427174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.427174 # Seafloor depth:-105.427174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.760366 meters looking forward 0.000000 meters along route # Maximum depth: 105.760366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.760366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705239; longitude = -121.960424; captureRadius = 10; duration = 55; initialDepth = 65.618316; finalDepth = 65.760366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.760366 # Seafloor depth:-105.760366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.618316 meters looking forward 0.000000 meters along route # Maximum depth: 105.618316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.618316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705420; longitude = -121.960959; captureRadius = 10; duration = 55; initialDepth = 64.915344; finalDepth = 65.618316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.618316 # Seafloor depth:-105.618316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.915344 meters looking forward 0.000000 meters along route # Maximum depth: 104.915344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.915344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705600; longitude = -121.961491; captureRadius = 10; duration = 55; initialDepth = 64.678974; finalDepth = 64.915344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.915344 # Seafloor depth:-104.915344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.678974 meters looking forward 0.000000 meters along route # Maximum depth: 104.678974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.678974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705780; longitude = -121.962025; captureRadius = 10; duration = 55; initialDepth = 63.923597; finalDepth = 64.678974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.678974 # Seafloor depth:-104.678974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.923597 meters looking forward 0.000000 meters along route # Maximum depth: 103.923597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.923597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705960; longitude = -121.962558; captureRadius = 10; duration = 55; initialDepth = 62.238771; finalDepth = 63.923597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.923597 # Seafloor depth:-103.923597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 102.238771 meters looking forward 0.000000 meters along route # Maximum depth: 102.238771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.238771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706141; longitude = -121.963092; captureRadius = 10; duration = 55; initialDepth = 63.195722; finalDepth = 62.238771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.238771 # Seafloor depth:-102.238771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.195722 meters looking forward 0.000000 meters along route # Maximum depth: 103.195722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.195722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706321; longitude = -121.963625; captureRadius = 10; duration = 55; initialDepth = 63.561406; finalDepth = 63.195722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.195722 # Seafloor depth:-103.195722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.561406 meters looking forward 0.000000 meters along route # Maximum depth: 103.561406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.561406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706502; longitude = -121.964158; captureRadius = 10; duration = 55; initialDepth = 64.556753; finalDepth = 63.561406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.561406 # Seafloor depth:-103.561406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.556753 meters looking forward 0.000000 meters along route # Maximum depth: 104.556753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.556753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706682; longitude = -121.964692; captureRadius = 10; duration = 55; initialDepth = 64.474406; finalDepth = 64.556753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.556753 # Seafloor depth:-104.556753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.474406 meters looking forward 0.000000 meters along route # Maximum depth: 104.474406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.474406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706863; longitude = -121.965225; captureRadius = 10; duration = 55; initialDepth = 65.232687; finalDepth = 64.474406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.474406 # Seafloor depth:-104.474406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.232687 meters looking forward 0.000000 meters along route # Maximum depth: 105.232687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.232687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707048; longitude = -121.965773; captureRadius = 10; duration = 55; initialDepth = 65.246144; finalDepth = 65.232687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.232687 # Seafloor depth:-105.232687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.246144 meters looking forward 0.000000 meters along route # Maximum depth: 105.246144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.246144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707223; longitude = -121.966292; captureRadius = 10; duration = 55; initialDepth = 63.301222; finalDepth = 65.246144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.246144 # Seafloor depth:-105.246144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.301222 meters looking forward 0.000000 meters along route # Maximum depth: 103.301222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.301222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707404; longitude = -121.966826; captureRadius = 10; duration = 55; initialDepth = 63.995859; finalDepth = 63.301222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.301222 # Seafloor depth:-103.301222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 103.995859 meters looking forward 0.000000 meters along route # Maximum depth: 103.995859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.995859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707584; longitude = -121.967359; captureRadius = 10; duration = 55; initialDepth = 64.919455; finalDepth = 63.995859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.995859 # Seafloor depth:-103.995859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 104.919455 meters looking forward 0.000000 meters along route # Maximum depth: 104.919455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.919455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707767; longitude = -121.967900; captureRadius = 10; duration = 55; initialDepth = 65.819121; finalDepth = 64.919455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.919455 # Seafloor depth:-104.919455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 105.819121 meters looking forward 0.000000 meters along route # Maximum depth: 105.819121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.819121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707945; longitude = -121.968426; captureRadius = 10; duration = 55; initialDepth = 66.765846; finalDepth = 65.819121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.819121 # Seafloor depth:-105.819121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 106.765846 meters looking forward 0.000000 meters along route # Maximum depth: 106.765846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.765846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708125; longitude = -121.968959; captureRadius = 10; duration = 55; initialDepth = 68.917660; finalDepth = 66.765846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.765846 # Seafloor depth:-106.765846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 108.917660 meters looking forward 0.000000 meters along route # Maximum depth: 108.917660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.917660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708306; longitude = -121.969493; captureRadius = 10; duration = 55; initialDepth = 69.557770; finalDepth = 68.917660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.91766 # Seafloor depth:-108.917660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 109.557770 meters looking forward 0.000000 meters along route # Maximum depth: 109.557770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.557770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708486; longitude = -121.970027; captureRadius = 10; duration = 55; initialDepth = 70.562720; finalDepth = 69.557770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.55777 # Seafloor depth:-109.557770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 110.562720 meters looking forward 0.000000 meters along route # Maximum depth: 110.562720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.562720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708667; longitude = -121.970560; captureRadius = 10; duration = 55; initialDepth = 70.526110; finalDepth = 70.562720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.56272 # Seafloor depth:-110.562720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 110.526110 meters looking forward 0.000000 meters along route # Maximum depth: 110.526110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.526110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708847; longitude = -121.971093; captureRadius = 10; duration = 55; initialDepth = 72.640248; finalDepth = 70.526110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.52611 # Seafloor depth:-110.526110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 112.640248 meters looking forward 0.000000 meters along route # Maximum depth: 112.640248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.640248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709027; longitude = -121.971627; captureRadius = 10; duration = 55; initialDepth = 76.593746; finalDepth = 72.640248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.640248 # Seafloor depth:-112.640248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 116.593746 meters looking forward 0.000000 meters along route # Maximum depth: 116.593746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.593746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709208; longitude = -121.972160; captureRadius = 10; duration = 55; initialDepth = 85.466784; finalDepth = 76.593746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.593746 # Seafloor depth:-116.593746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 125.466784 meters looking forward 0.000000 meters along route # Maximum depth: 125.466784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.466784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709388; longitude = -121.972693; captureRadius = 10; duration = 55; initialDepth = 92.360994; finalDepth = 85.466784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.466784 # Seafloor depth:-125.466784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 132.360994 meters looking forward 0.000000 meters along route # Maximum depth: 132.360994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.360994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709569; longitude = -121.973227; captureRadius = 10; duration = 55; initialDepth = 98.279462; finalDepth = 92.360994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:92.360994 # Seafloor depth:-132.360994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 138.279462 meters looking forward 0.000000 meters along route # Maximum depth: 138.279462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.279462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709749; longitude = -121.973760; captureRadius = 10; duration = 55; initialDepth = 106.061053; finalDepth = 98.279462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.279462 # Seafloor depth:-138.279462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 146.061053 meters looking forward 0.000000 meters along route # Maximum depth: 146.061053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.061053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709930; longitude = -121.974294; captureRadius = 10; duration = 55; initialDepth = 119.383843; finalDepth = 106.061053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.061053 # Seafloor depth:-146.061053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 159.383843 meters looking forward 0.000000 meters along route # Maximum depth: 159.383843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.383843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710114; longitude = -121.974840; captureRadius = 10; duration = 55; initialDepth = 132.738804; finalDepth = 119.383843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:119.383843 # Seafloor depth:-159.383843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 172.738804 meters looking forward 0.000000 meters along route # Maximum depth: 172.738804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.738804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710290; longitude = -121.975361; captureRadius = 10; duration = 55; initialDepth = 139.309945; finalDepth = 132.738804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:132.738804 # Seafloor depth:-172.738804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 179.309945 meters looking forward 0.000000 meters along route # Maximum depth: 179.309945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.309945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710471; longitude = -121.975894; captureRadius = 10; duration = 55; initialDepth = 141.477457; finalDepth = 139.309945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.309945 # Seafloor depth:-179.309945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 181.477457 meters looking forward 0.000000 meters along route # Maximum depth: 181.477457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.477457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710651; longitude = -121.976428; captureRadius = 10; duration = 55; initialDepth = 140.164616; finalDepth = 141.477457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:141.477457 # Seafloor depth:-181.477457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 180.164616 meters looking forward 0.000000 meters along route # Maximum depth: 180.164616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.164616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710834; longitude = -121.976967; captureRadius = 10; duration = 55; initialDepth = 139.834892; finalDepth = 140.164616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.164616 # Seafloor depth:-180.164616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 179.834892 meters looking forward 0.000000 meters along route # Maximum depth: 179.834892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.834892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711012; longitude = -121.977494; captureRadius = 10; duration = 55; initialDepth = 139.388246; finalDepth = 139.834892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.834892 # Seafloor depth:-179.834892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 179.388246 meters looking forward 0.000000 meters along route # Maximum depth: 179.388246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.388246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711192; longitude = -121.978028; captureRadius = 10; duration = 55; initialDepth = 140.908781; finalDepth = 139.388246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.388246 # Seafloor depth:-179.388246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 180.908781 meters looking forward 0.000000 meters along route # Maximum depth: 180.908781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.908781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711373; longitude = -121.978561; captureRadius = 10; duration = 55; initialDepth = 142.244129; finalDepth = 140.908781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.908781 # Seafloor depth:-180.908781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 182.244129 meters looking forward 0.000000 meters along route # Maximum depth: 182.244129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.244129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711553; longitude = -121.979095; captureRadius = 10; duration = 55; initialDepth = 142.630854; finalDepth = 142.244129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.244129 # Seafloor depth:-182.244129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 182.630854 meters looking forward 0.000000 meters along route # Maximum depth: 182.630854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.630854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711734; longitude = -121.979628; captureRadius = 10; duration = 55; initialDepth = 145.686822; finalDepth = 142.630854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.630854 # Seafloor depth:-182.630854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 185.686822 meters looking forward 0.000000 meters along route # Maximum depth: 185.686822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.686822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711914; longitude = -121.980162; captureRadius = 10; duration = 55; initialDepth = 150.507204; finalDepth = 145.686822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:145.686822 # Seafloor depth:-185.686822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 190.507204 meters looking forward 0.000000 meters along route # Maximum depth: 190.507204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.507204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712094; longitude = -121.980695; captureRadius = 10; duration = 55; initialDepth = 157.880808; finalDepth = 150.507204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.507204 # Seafloor depth:-190.507204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 197.880808 meters looking forward 0.000000 meters along route # Maximum depth: 197.880808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.880808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712275; longitude = -121.981228; captureRadius = 10; duration = 55; initialDepth = 168.448183; finalDepth = 157.880808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.880808 # Seafloor depth:-197.880808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 208.448183 meters looking forward 0.000000 meters along route # Maximum depth: 208.448183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.448183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712462; longitude = -121.981781; captureRadius = 10; duration = 55; initialDepth = 179.634410; finalDepth = 168.448183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:168.448183 # Seafloor depth:-208.448183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 219.634410 meters looking forward 0.000000 meters along route # Maximum depth: 219.634410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.634410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712651; longitude = -121.982341; captureRadius = 10; duration = 55; initialDepth = 191.115230; finalDepth = 179.634410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:179.63441 # Seafloor depth:-219.634410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.384171 meters # Minimum depth: 231.115230 meters looking forward 0.000000 meters along route # Maximum depth: 231.115230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.115230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712840; longitude = -121.982900; captureRadius = 10; duration = 55; initialDepth = 204.182510; finalDepth = 191.115230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.11523 # Seafloor depth:-231.115230 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 55.384171 meters # Minimum depth: 244.182510 meters looking forward 0.000000 meters along route # Maximum depth: 244.182510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.182510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713036; longitude = -121.983479; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 200.045717; finalDepth = 204.182510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:204.18251 # Seafloor depth:-244.182510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 55.384171 meters # Minimum depth: 240.045717 meters looking forward 0.000000 meters along route # Maximum depth: 240.045717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.045717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713357; longitude = -121.983312; captureRadius = 10; duration = 55; initialDepth = 195.897536; finalDepth = 200.045717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:200.045717 # Seafloor depth:-240.045717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 55.384171 meters # Minimum depth: 235.897536 meters looking forward 0.000000 meters along route # Maximum depth: 235.897536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.897536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713808; longitude = -121.983076; captureRadius = 10; duration = 55; initialDepth = 191.555054; finalDepth = 195.897536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:195.897536 # Seafloor depth:-235.897536 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 55.384171 meters # Minimum depth: 231.555054 meters looking forward 0.000000 meters along route # Maximum depth: 231.555054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.555054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714283; longitude = -121.982829; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 189.720856; finalDepth = 191.555054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.555054 # Seafloor depth:-231.555054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 229.720856 meters looking forward 0.000000 meters along route # Maximum depth: 229.720856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.720856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714259; longitude = -121.982759; captureRadius = 10; duration = 55; initialDepth = 178.335910; finalDepth = 189.720856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.720856 # Seafloor depth:-229.720856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 218.335910 meters looking forward 0.000000 meters along route # Maximum depth: 218.335910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.335910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714079; longitude = -121.982226; captureRadius = 10; duration = 55; initialDepth = 165.767058; finalDepth = 178.335910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:178.33591 # Seafloor depth:-218.335910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 205.767058 meters looking forward 0.000000 meters along route # Maximum depth: 205.767058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.767058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713899; longitude = -121.981692; captureRadius = 10; duration = 55; initialDepth = 152.933879; finalDepth = 165.767058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.767058 # Seafloor depth:-205.767058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 192.933879 meters looking forward 0.000000 meters along route # Maximum depth: 192.933879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.933879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713718; longitude = -121.981159; captureRadius = 10; duration = 55; initialDepth = 139.775370; finalDepth = 152.933879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:152.933879 # Seafloor depth:-192.933879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 179.775370 meters looking forward 0.000000 meters along route # Maximum depth: 179.775370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.775370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713538; longitude = -121.980625; captureRadius = 10; duration = 55; initialDepth = 125.850779; finalDepth = 139.775370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.77537 # Seafloor depth:-179.775370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 165.850779 meters looking forward 0.000000 meters along route # Maximum depth: 165.850779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.850779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713357; longitude = -121.980092; captureRadius = 10; duration = 55; initialDepth = 115.904071; finalDepth = 125.850779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.850779 # Seafloor depth:-165.850779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 155.904071 meters looking forward 0.000000 meters along route # Maximum depth: 155.904071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.904071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713171; longitude = -121.979542; captureRadius = 10; duration = 55; initialDepth = 109.766464; finalDepth = 115.904071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.904071 # Seafloor depth:-155.904071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 149.766464 meters looking forward 0.000000 meters along route # Maximum depth: 149.766464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.766464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712997; longitude = -121.979025; captureRadius = 10; duration = 55; initialDepth = 105.678596; finalDepth = 109.766464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.766464 # Seafloor depth:-149.766464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 145.678596 meters looking forward 0.000000 meters along route # Maximum depth: 145.678596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.678596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712816; longitude = -121.978492; captureRadius = 10; duration = 55; initialDepth = 103.120458; finalDepth = 105.678596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:105.678596 # Seafloor depth:-145.678596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 143.120458 meters looking forward 0.000000 meters along route # Maximum depth: 143.120458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.120458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712636; longitude = -121.977958; captureRadius = 10; duration = 55; initialDepth = 100.917941; finalDepth = 103.120458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.120458 # Seafloor depth:-143.120458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 140.917941 meters looking forward 0.000000 meters along route # Maximum depth: 140.917941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.917941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712452; longitude = -121.977415; captureRadius = 10; duration = 55; initialDepth = 101.395918; finalDepth = 100.917941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.917941 # Seafloor depth:-140.917941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 141.395918 meters looking forward 0.000000 meters along route # Maximum depth: 141.395918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.395918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712275; longitude = -121.976891; captureRadius = 10; duration = 55; initialDepth = 101.279390; finalDepth = 101.395918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.395918 # Seafloor depth:-141.395918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 141.279390 meters looking forward 0.000000 meters along route # Maximum depth: 141.279390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.279390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712094; longitude = -121.976358; captureRadius = 10; duration = 55; initialDepth = 100.799289; finalDepth = 101.279390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.27939 # Seafloor depth:-141.279390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 140.799289 meters looking forward 0.000000 meters along route # Maximum depth: 140.799289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.799289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711914; longitude = -121.975824; captureRadius = 10; duration = 55; initialDepth = 100.309049; finalDepth = 100.799289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.799289 # Seafloor depth:-140.799289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 140.309049 meters looking forward 0.000000 meters along route # Maximum depth: 140.309049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.309049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711733; longitude = -121.975288; captureRadius = 10; duration = 55; initialDepth = 98.518400; finalDepth = 100.309049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.309049 # Seafloor depth:-140.309049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 138.518400 meters looking forward 0.000000 meters along route # Maximum depth: 138.518400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.518400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711553; longitude = -121.974758; captureRadius = 10; duration = 55; initialDepth = 96.521601; finalDepth = 98.518400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.5184 # Seafloor depth:-138.518400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 136.521601 meters looking forward 0.000000 meters along route # Maximum depth: 136.521601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.521601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711373; longitude = -121.974224; captureRadius = 10; duration = 55; initialDepth = 93.728854; finalDepth = 96.521601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.521601 # Seafloor depth:-136.521601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 133.728854 meters looking forward 0.000000 meters along route # Maximum depth: 133.728854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.728854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711192; longitude = -121.973691; captureRadius = 10; duration = 55; initialDepth = 91.642442; finalDepth = 93.728854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.728854 # Seafloor depth:-133.728854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 131.642442 meters looking forward 0.000000 meters along route # Maximum depth: 131.642442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.642442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711012; longitude = -121.973157; captureRadius = 10; duration = 55; initialDepth = 89.492101; finalDepth = 91.642442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.642442 # Seafloor depth:-131.642442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 129.492101 meters looking forward 0.000000 meters along route # Maximum depth: 129.492101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.492101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710832; longitude = -121.972624; captureRadius = 10; duration = 55; initialDepth = 85.139265; finalDepth = 89.492101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.492101 # Seafloor depth:-129.492101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 125.139265 meters looking forward 0.000000 meters along route # Maximum depth: 125.139265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.139265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710651; longitude = -121.972090; captureRadius = 10; duration = 55; initialDepth = 77.419746; finalDepth = 85.139265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.139265 # Seafloor depth:-125.139265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 117.419746 meters looking forward 0.000000 meters along route # Maximum depth: 117.419746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.419746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710471; longitude = -121.971557; captureRadius = 10; duration = 55; initialDepth = 74.574664; finalDepth = 77.419746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.419746 # Seafloor depth:-117.419746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 114.574664 meters looking forward 0.000000 meters along route # Maximum depth: 114.574664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.574664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710290; longitude = -121.971024; captureRadius = 10; duration = 55; initialDepth = 72.643421; finalDepth = 74.574664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.574664 # Seafloor depth:-114.574664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 112.643421 meters looking forward 0.000000 meters along route # Maximum depth: 112.643421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.643421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710105; longitude = -121.970474; captureRadius = 10; duration = 55; initialDepth = 72.451718; finalDepth = 72.643421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.643421 # Seafloor depth:-112.643421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 112.451718 meters looking forward 0.000000 meters along route # Maximum depth: 112.451718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.451718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709930; longitude = -121.969957; captureRadius = 10; duration = 55; initialDepth = 71.361258; finalDepth = 72.451718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.451718 # Seafloor depth:-112.451718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 111.361258 meters looking forward 0.000000 meters along route # Maximum depth: 111.361258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.361258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709749; longitude = -121.969423; captureRadius = 10; duration = 55; initialDepth = 70.635500; finalDepth = 71.361258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.361258 # Seafloor depth:-111.361258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 110.635500 meters looking forward 0.000000 meters along route # Maximum depth: 110.635500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.635500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709569; longitude = -121.968890; captureRadius = 10; duration = 55; initialDepth = 68.817129; finalDepth = 70.635500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.6355 # Seafloor depth:-110.635500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 108.817129 meters looking forward 0.000000 meters along route # Maximum depth: 108.817129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.817129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709385; longitude = -121.968347; captureRadius = 10; duration = 55; initialDepth = 67.819338; finalDepth = 68.817129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.817129 # Seafloor depth:-108.817129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 107.819338 meters looking forward 0.000000 meters along route # Maximum depth: 107.819338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.819338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709208; longitude = -121.967823; captureRadius = 10; duration = 55; initialDepth = 67.145243; finalDepth = 67.819338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.819338 # Seafloor depth:-107.819338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 107.145243 meters looking forward 0.000000 meters along route # Maximum depth: 107.145243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.145243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709027; longitude = -121.967289; captureRadius = 10; duration = 55; initialDepth = 67.527047; finalDepth = 67.145243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.145243 # Seafloor depth:-107.145243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 107.527047 meters looking forward 0.000000 meters along route # Maximum depth: 107.527047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.527047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708847; longitude = -121.966756; captureRadius = 10; duration = 55; initialDepth = 68.790336; finalDepth = 67.527047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.527047 # Seafloor depth:-107.527047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 108.790336 meters looking forward 0.000000 meters along route # Maximum depth: 108.790336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.790336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708666; longitude = -121.966221; captureRadius = 10; duration = 55; initialDepth = 67.367315; finalDepth = 68.790336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.790336 # Seafloor depth:-108.790336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 107.367315 meters looking forward 0.000000 meters along route # Maximum depth: 107.367315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.367315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708486; longitude = -121.965689; captureRadius = 10; duration = 55; initialDepth = 66.499908; finalDepth = 67.367315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.367315 # Seafloor depth:-107.367315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 106.499908 meters looking forward 0.000000 meters along route # Maximum depth: 106.499908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.499908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708306; longitude = -121.965156; captureRadius = 10; duration = 55; initialDepth = 65.606857; finalDepth = 66.499908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.499908 # Seafloor depth:-106.499908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.606857 meters looking forward 0.000000 meters along route # Maximum depth: 105.606857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.606857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708125; longitude = -121.964622; captureRadius = 10; duration = 55; initialDepth = 65.121013; finalDepth = 65.606857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.606857 # Seafloor depth:-105.606857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.121013 meters looking forward 0.000000 meters along route # Maximum depth: 105.121013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.121013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707945; longitude = -121.964089; captureRadius = 10; duration = 55; initialDepth = 64.810661; finalDepth = 65.121013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.121013 # Seafloor depth:-105.121013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.810661 meters looking forward 0.000000 meters along route # Maximum depth: 104.810661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.810661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707765; longitude = -121.963555; captureRadius = 10; duration = 55; initialDepth = 64.413954; finalDepth = 64.810661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.810661 # Seafloor depth:-104.810661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.413954 meters looking forward 0.000000 meters along route # Maximum depth: 104.413954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.413954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707584; longitude = -121.963022; captureRadius = 10; duration = 55; initialDepth = 64.268060; finalDepth = 64.413954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.413954 # Seafloor depth:-104.413954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.268060 meters looking forward 0.000000 meters along route # Maximum depth: 104.268060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.268060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707404; longitude = -121.962488; captureRadius = 10; duration = 55; initialDepth = 65.059454; finalDepth = 64.268060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.26806 # Seafloor depth:-104.268060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.059454 meters looking forward 0.000000 meters along route # Maximum depth: 105.059454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.059454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707223; longitude = -121.961955; captureRadius = 10; duration = 55; initialDepth = 66.042815; finalDepth = 65.059454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.059454 # Seafloor depth:-105.059454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 106.042815 meters looking forward 0.000000 meters along route # Maximum depth: 106.042815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.042815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707038; longitude = -121.961407; captureRadius = 10; duration = 55; initialDepth = 66.151015; finalDepth = 66.042815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.042815 # Seafloor depth:-106.042815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 106.151015 meters looking forward 0.000000 meters along route # Maximum depth: 106.151015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.151015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706863; longitude = -121.960888; captureRadius = 10; duration = 55; initialDepth = 65.905725; finalDepth = 66.151015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.151015 # Seafloor depth:-106.151015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.905725 meters looking forward 0.000000 meters along route # Maximum depth: 105.905725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.905725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706682; longitude = -121.960355; captureRadius = 10; duration = 55; initialDepth = 66.241249; finalDepth = 65.905725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.905725 # Seafloor depth:-105.905725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 106.241249 meters looking forward 0.000000 meters along route # Maximum depth: 106.241249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.241249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706502; longitude = -121.959821; captureRadius = 10; duration = 55; initialDepth = 66.228286; finalDepth = 66.241249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.241249 # Seafloor depth:-106.241249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 106.228286 meters looking forward 0.000000 meters along route # Maximum depth: 106.228286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.228286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706319; longitude = -121.959280; captureRadius = 10; duration = 55; initialDepth = 65.790083; finalDepth = 66.228286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.228286 # Seafloor depth:-106.228286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.790083 meters looking forward 0.000000 meters along route # Maximum depth: 105.790083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.790083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706141; longitude = -121.958754; captureRadius = 10; duration = 55; initialDepth = 65.364371; finalDepth = 65.790083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.790083 # Seafloor depth:-105.790083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.364371 meters looking forward 0.000000 meters along route # Maximum depth: 105.364371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.364371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705960; longitude = -121.958221; captureRadius = 10; duration = 55; initialDepth = 65.189559; finalDepth = 65.364371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.364371 # Seafloor depth:-105.364371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 105.189559 meters looking forward 0.000000 meters along route # Maximum depth: 105.189559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.189559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705780; longitude = -121.957688; captureRadius = 10; duration = 55; initialDepth = 64.729870; finalDepth = 65.189559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.189559 # Seafloor depth:-105.189559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.729870 meters looking forward 0.000000 meters along route # Maximum depth: 104.729870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.729870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705599; longitude = -121.957153; captureRadius = 10; duration = 55; initialDepth = 64.608404; finalDepth = 64.729870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.72987 # Seafloor depth:-104.729870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.608404 meters looking forward 0.000000 meters along route # Maximum depth: 104.608404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.608404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705419; longitude = -121.956621; captureRadius = 10; duration = 55; initialDepth = 64.698854; finalDepth = 64.608404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.608404 # Seafloor depth:-104.608404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.698854 meters looking forward 0.000000 meters along route # Maximum depth: 104.698854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.698854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705239; longitude = -121.956087; captureRadius = 10; duration = 55; initialDepth = 64.131531; finalDepth = 64.698854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.698854 # Seafloor depth:-104.698854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.131531 meters looking forward 0.000000 meters along route # Maximum depth: 104.131531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.131531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705058; longitude = -121.955554; captureRadius = 10; duration = 55; initialDepth = 63.891336; finalDepth = 64.131531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.131531 # Seafloor depth:-104.131531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 103.891336 meters looking forward 0.000000 meters along route # Maximum depth: 103.891336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.891336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704878; longitude = -121.955020; captureRadius = 10; duration = 55; initialDepth = 63.940244; finalDepth = 63.891336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.891336 # Seafloor depth:-103.891336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 103.940244 meters looking forward 0.000000 meters along route # Maximum depth: 103.940244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.940244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704698; longitude = -121.954487; captureRadius = 10; duration = 55; initialDepth = 64.003503; finalDepth = 63.940244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.940244 # Seafloor depth:-103.940244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 104.003503 meters looking forward 0.000000 meters along route # Maximum depth: 104.003503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.003503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704517; longitude = -121.953953; captureRadius = 10; duration = 55; initialDepth = 63.416095; finalDepth = 64.003503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.003503 # Seafloor depth:-104.003503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 103.416095 meters looking forward 0.000000 meters along route # Maximum depth: 103.416095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.416095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704337; longitude = -121.953420; captureRadius = 10; duration = 55; initialDepth = 62.461963; finalDepth = 63.416095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.416095 # Seafloor depth:-103.416095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 102.461963 meters looking forward 0.000000 meters along route # Maximum depth: 102.461963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.461963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704156; longitude = -121.952887; captureRadius = 10; duration = 55; initialDepth = 62.380670; finalDepth = 62.461963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.461963 # Seafloor depth:-102.461963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 102.380670 meters looking forward 0.000000 meters along route # Maximum depth: 102.380670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.380670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703971; longitude = -121.952339; captureRadius = 10; duration = 55; initialDepth = 62.000953; finalDepth = 62.380670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.38067 # Seafloor depth:-102.380670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 102.000953 meters looking forward 0.000000 meters along route # Maximum depth: 102.000953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.000953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703796; longitude = -121.951820; captureRadius = 10; duration = 55; initialDepth = 61.882158; finalDepth = 62.000953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.000953 # Seafloor depth:-102.000953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.882158 meters looking forward 0.000000 meters along route # Maximum depth: 101.882158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.882158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703615; longitude = -121.951286; captureRadius = 10; duration = 55; initialDepth = 61.617709; finalDepth = 61.882158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.882158 # Seafloor depth:-101.882158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.617709 meters looking forward 0.000000 meters along route # Maximum depth: 101.617709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.617709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703435; longitude = -121.950753; captureRadius = 10; duration = 55; initialDepth = 61.656372; finalDepth = 61.617709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.617709 # Seafloor depth:-101.617709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.656372 meters looking forward 0.000000 meters along route # Maximum depth: 101.656372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.656372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703252; longitude = -121.950212; captureRadius = 10; duration = 55; initialDepth = 61.188175; finalDepth = 61.656372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.656372 # Seafloor depth:-101.656372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.188175 meters looking forward 0.000000 meters along route # Maximum depth: 101.188175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.188175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703074; longitude = -121.949686; captureRadius = 10; duration = 55; initialDepth = 60.970695; finalDepth = 61.188175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.188175 # Seafloor depth:-101.188175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 100.970695 meters looking forward 0.000000 meters along route # Maximum depth: 100.970695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.970695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702894; longitude = -121.949153; captureRadius = 10; duration = 55; initialDepth = 61.030602; finalDepth = 60.970695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.970695 # Seafloor depth:-100.970695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.030602 meters looking forward 0.000000 meters along route # Maximum depth: 101.030602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.030602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702713; longitude = -121.948619; captureRadius = 10; duration = 55; initialDepth = 61.189766; finalDepth = 61.030602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.030602 # Seafloor depth:-101.030602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 101.189766 meters looking forward 0.000000 meters along route # Maximum depth: 101.189766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.189766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702533; longitude = -121.948085; captureRadius = 10; duration = 55; initialDepth = 60.657579; finalDepth = 61.189766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.189766 # Seafloor depth:-101.189766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 100.657579 meters looking forward 0.000000 meters along route # Maximum depth: 100.657579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.657579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702352; longitude = -121.947552; captureRadius = 10; duration = 55; initialDepth = 60.227433; finalDepth = 60.657579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.657579 # Seafloor depth:-100.657579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 100.227433 meters looking forward 0.000000 meters along route # Maximum depth: 100.227433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.227433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702172; longitude = -121.947019; captureRadius = 10; duration = 55; initialDepth = 59.818411; finalDepth = 60.227433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.227433 # Seafloor depth:-100.227433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.818411 meters looking forward 0.000000 meters along route # Maximum depth: 99.818411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.818411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701991; longitude = -121.946485; captureRadius = 10; duration = 55; initialDepth = 59.693670; finalDepth = 59.818411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.818411 # Seafloor depth:-99.818411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.693670 meters looking forward 0.000000 meters along route # Maximum depth: 99.693670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.693670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701811; longitude = -121.945952; captureRadius = 10; duration = 55; initialDepth = 60.065542; finalDepth = 59.693670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.69367 # Seafloor depth:-99.693670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 100.065542 meters looking forward 0.000000 meters along route # Maximum depth: 100.065542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.065542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701631; longitude = -121.945418; captureRadius = 10; duration = 55; initialDepth = 59.766249; finalDepth = 60.065542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.065542 # Seafloor depth:-100.065542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.766249 meters looking forward 0.000000 meters along route # Maximum depth: 99.766249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.766249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701450; longitude = -121.944885; captureRadius = 10; duration = 55; initialDepth = 59.781192; finalDepth = 59.766249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.766249 # Seafloor depth:-99.766249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.781192 meters looking forward 0.000000 meters along route # Maximum depth: 99.781192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.781192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701270; longitude = -121.944352; captureRadius = 10; duration = 55; initialDepth = 59.499758; finalDepth = 59.781192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.781192 # Seafloor depth:-99.781192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.499758 meters looking forward 0.000000 meters along route # Maximum depth: 99.499758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.499758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701089; longitude = -121.943818; captureRadius = 10; duration = 55; initialDepth = 59.165502; finalDepth = 59.499758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.499758 # Seafloor depth:-99.499758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 99.165502 meters looking forward 0.000000 meters along route # Maximum depth: 99.165502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.165502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700905; longitude = -121.943272; captureRadius = 10; duration = 55; initialDepth = 58.859262; finalDepth = 59.165502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.165502 # Seafloor depth:-99.165502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 98.859262 meters looking forward 0.000000 meters along route # Maximum depth: 98.859262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.859262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700729; longitude = -121.942751; captureRadius = 10; duration = 55; initialDepth = 58.609166; finalDepth = 58.859262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.859262 # Seafloor depth:-98.859262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 98.609166 meters looking forward 0.000000 meters along route # Maximum depth: 98.609166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.609166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700548; longitude = -121.942218; captureRadius = 10; duration = 55; initialDepth = 58.454961; finalDepth = 58.609166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.609166 # Seafloor depth:-98.609166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 98.454961 meters looking forward 0.000000 meters along route # Maximum depth: 98.454961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.454961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700368; longitude = -121.941684; captureRadius = 10; duration = 55; initialDepth = 57.260259; finalDepth = 58.454961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.454961 # Seafloor depth:-98.454961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.260259 meters looking forward 0.000000 meters along route # Maximum depth: 97.260259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.260259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700185; longitude = -121.941145; captureRadius = 10; duration = 55; initialDepth = 56.586635; finalDepth = 57.260259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.260259 # Seafloor depth:-97.260259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.586635 meters looking forward 0.000000 meters along route # Maximum depth: 96.586635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.586635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -121.940617; captureRadius = 10; duration = 55; initialDepth = 56.491262; finalDepth = 56.586635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.586635 # Seafloor depth:-96.586635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.491262 meters looking forward 0.000000 meters along route # Maximum depth: 96.491262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.491262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699827; longitude = -121.940084; captureRadius = 10; duration = 55; initialDepth = 54.841826; finalDepth = 56.491262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.491262 # Seafloor depth:-96.491262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 94.841826 meters looking forward 0.000000 meters along route # Maximum depth: 94.841826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.841826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699646; longitude = -121.939551; captureRadius = 10; duration = 55; initialDepth = 54.443568; finalDepth = 54.841826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.841826 # Seafloor depth:-94.841826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 94.443568 meters looking forward 0.000000 meters along route # Maximum depth: 94.443568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.443568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699466; longitude = -121.939017; captureRadius = 10; duration = 55; initialDepth = 53.510752; finalDepth = 54.443568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.443568 # Seafloor depth:-94.443568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 93.510752 meters looking forward 0.000000 meters along route # Maximum depth: 93.510752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.510752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699285; longitude = -121.938484; captureRadius = 10; duration = 55; initialDepth = 56.476424; finalDepth = 53.510752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.510752 # Seafloor depth:-93.510752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.476424 meters looking forward 0.000000 meters along route # Maximum depth: 96.476424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.476424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699105; longitude = -121.937950; captureRadius = 10; duration = 55; initialDepth = 56.975477; finalDepth = 56.476424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.476424 # Seafloor depth:-96.476424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.975477 meters looking forward 0.000000 meters along route # Maximum depth: 96.975477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.975477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698924; longitude = -121.937417; captureRadius = 10; duration = 55; initialDepth = 57.392121; finalDepth = 56.975477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.975477 # Seafloor depth:-96.975477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.392121 meters looking forward 0.000000 meters along route # Maximum depth: 97.392121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.392121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698744; longitude = -121.936883; captureRadius = 10; duration = 55; initialDepth = 57.117284; finalDepth = 57.392121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.392121 # Seafloor depth:-97.392121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.117284 meters looking forward 0.000000 meters along route # Maximum depth: 97.117284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.117284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698564; longitude = -121.936350; captureRadius = 10; duration = 55; initialDepth = 56.875092; finalDepth = 57.117284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.117284 # Seafloor depth:-97.117284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.875092 meters looking forward 0.000000 meters along route # Maximum depth: 96.875092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.875092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698383; longitude = -121.935817; captureRadius = 10; duration = 55; initialDepth = 56.808417; finalDepth = 56.875092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.875092 # Seafloor depth:-96.875092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.808417 meters looking forward 0.000000 meters along route # Maximum depth: 96.808417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.808417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698203; longitude = -121.935283; captureRadius = 10; duration = 55; initialDepth = 56.947545; finalDepth = 56.808417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.808417 # Seafloor depth:-96.808417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.947545 meters looking forward 0.000000 meters along route # Maximum depth: 96.947545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.947545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698022; longitude = -121.934750; captureRadius = 10; duration = 55; initialDepth = 56.593333; finalDepth = 56.947545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.947545 # Seafloor depth:-96.947545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 96.593333 meters looking forward 0.000000 meters along route # Maximum depth: 96.593333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.593333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697838; longitude = -121.934204; captureRadius = 10; duration = 55; initialDepth = 57.649203; finalDepth = 56.593333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.593333 # Seafloor depth:-96.593333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.649203 meters looking forward 0.000000 meters along route # Maximum depth: 97.649203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.649203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697662; longitude = -121.933683; captureRadius = 10; duration = 55; initialDepth = 57.877070; finalDepth = 57.649203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.649203 # Seafloor depth:-97.649203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.877070 meters looking forward 0.000000 meters along route # Maximum depth: 97.877070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.877070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697481; longitude = -121.933149; captureRadius = 10; duration = 55; initialDepth = 57.404328; finalDepth = 57.877070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.87707 # Seafloor depth:-97.877070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.404328 meters looking forward 0.000000 meters along route # Maximum depth: 97.404328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.404328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697301; longitude = -121.932616; captureRadius = 10; duration = 55; initialDepth = 57.442699; finalDepth = 57.404328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.404328 # Seafloor depth:-97.404328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.442699 meters looking forward 0.000000 meters along route # Maximum depth: 97.442699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.442699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697119; longitude = -121.932077; captureRadius = 10; duration = 55; initialDepth = 57.411009; finalDepth = 57.442699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.442699 # Seafloor depth:-97.442699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.384171 meters # Minimum depth: 97.411009 meters looking forward 0.000000 meters along route # Maximum depth: 97.411009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.411009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696929; longitude = -121.931518; captureRadius = 10; duration = 55; initialDepth = 57.303658; finalDepth = 57.411009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.411009 # Seafloor depth:-97.411009 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:57.303658 # Seafloor depth:-97.303658 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 55.384171 meters # Minimum depth: 97.303658 meters looking forward 0.000000 meters along route # Maximum depth: 97.303658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 343.255032 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.303658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696736; longitude = -121.930946; captureRadius = 10; duration = 900; initialDepth = 57.303658; finalDepth = 57.303658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 292.160283; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 292.160283; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################