# 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: LuciaMAUV2v4.rte # Mission File: LuciaMAUV2v4.cfg # Distance: 37442.847063 (m) # Estimated Time: 28536 (s) 7.927 (hr) # Abort Time: 32110 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 2089 (s) # Way Points: 20 # Route Points: 349 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1020 (m) # Abort Vehicle Depth: 1040 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.805038 35.728336 -1013.914810 0.000000 3 # 1 -121.781728 35.757174 -1004.393097 3830.990447 4 # 2 -121.783113 35.757918 -1006.024643 3980.966344 3 # 3 -121.806423 35.729080 -1016.599579 7811.945030 4 # 4 -121.807808 35.729824 -1016.309341 7961.956576 3 # 5 -121.784498 35.758662 -1008.285370 11792.923501 4 # 6 -121.785883 35.759406 -1011.942200 11942.897360 3 # 7 -121.809193 35.730568 -1018.705826 15773.852527 4 # 8 -121.810578 35.731312 -1020.189377 15923.862038 3 # 9 -121.787268 35.760150 -1011.025604 19754.805448 4 # 10 -121.788654 35.760894 -1014.528687 19904.852769 3 # 11 -121.811963 35.732056 -1023.598557 23735.734667 4 # 12 -121.813348 35.732800 -1022.781006 23885.742144 3 # 13 -121.789982 35.761430 -1017.685287 27700.221368 1 # 14 -121.790442 35.763180 -1016.655914 27898.747922 1 # 15 -121.805737 35.744569 -1021.699005 30383.614297 1 # 16 -121.795141 35.739133 -1004.496674 31515.786204 4 # 17 -121.783901 35.744016 -1000.832870 32667.575214 3 # 18 -121.810159 35.756454 -1032.161774 35413.689398 4 # 19 -121.788876 35.762259 -1015.037842 37442.847063 1 # # A total of 349 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 29400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1020.000000; abortDepth = 1040.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2089; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 19 # Segment length 8.780307 meters # Minimum depth: 1015.037842 meters looking forward 100.000000 meters along route # Maximum depth: 1015.037842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.037842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762259; longitude = -121.788876; captureRadius = 10; duration = 8; abortOnTimeout = True; initialDepth = 965.037842; finalDepth = 965.037842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.037842 # Seafloor depth:-1015.037842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.408284 meters # Minimum depth: 1012.400316 meters looking forward 100.000000 meters along route # Maximum depth: 1017.409556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.400316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762234; longitude = -121.788968; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 962.400316; finalDepth = 965.037842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.313607 # Actual altitude: 53.313607 # Commanded vehicle depth:962.400316 # Seafloor depth:-1015.713923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.408612 meters # Minimum depth: 1014.829671 meters looking forward 100.000000 meters along route # Maximum depth: 1017.037183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.829671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761932; longitude = -121.790074; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 964.829671; finalDepth = 962.400316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.313607 # Actual altitude: 53.313607 # Commanded vehicle depth:964.829671 # Seafloor depth:-1017.037183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.408942 meters # Minimum depth: 1016.259816 meters looking forward 100.000000 meters along route # Maximum depth: 1018.254121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.259816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761631; longitude = -121.791179; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 966.259816; finalDepth = 964.829671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2075120000001 # Actual altitude: 52.2075120000001 # Commanded vehicle depth:966.259816 # Seafloor depth:-1016.608470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.409271 meters # Minimum depth: 1016.674138 meters looking forward 100.000000 meters along route # Maximum depth: 1018.019725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.674138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761329; longitude = -121.792285; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 966.674138; finalDepth = 966.259816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.245433 # Actual altitude: 51.245433 # Commanded vehicle depth:966.674138 # Seafloor depth:-1017.919571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.409600 meters # Minimum depth: 1016.290735 meters looking forward 100.000000 meters along route # Maximum depth: 1019.823918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.290735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761028; longitude = -121.793391; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 966.290735; finalDepth = 966.674138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.245433 # Actual altitude: 51.245433 # Commanded vehicle depth:966.290735 # Seafloor depth:-1016.708452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.409928 meters # Minimum depth: 1016.688156 meters looking forward 100.000000 meters along route # Maximum depth: 1019.840140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.688156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760726; longitude = -121.794496; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 966.688156; finalDepth = 966.290735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4177169999999 # Actual altitude: 50.4177169999999 # Commanded vehicle depth:966.688156 # Seafloor depth:-1017.046120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.410258 meters # Minimum depth: 1022.407398 meters looking forward 100.000000 meters along route # Maximum depth: 1026.601278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.407398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760425; longitude = -121.795602; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 972.407398; finalDepth = 966.688156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1938800000001 # Actual altitude: 54.1938800000001 # Commanded vehicle depth:972.407398 # Seafloor depth:-1026.601278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.410587 meters # Minimum depth: 1022.453033 meters looking forward 100.000000 meters along route # Maximum depth: 1025.747512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.453033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760123; longitude = -121.796707; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 972.453033; finalDepth = 972.407398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1938800000001 # Actual altitude: 54.1938800000001 # Commanded vehicle depth:972.453033 # Seafloor depth:-1025.747512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.410916 meters # Minimum depth: 1023.640635 meters looking forward 100.000000 meters along route # Maximum depth: 1024.959329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.640635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759821; longitude = -121.797813; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 973.640635; finalDepth = 972.453033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2944789999999 # Actual altitude: 53.2944789999999 # Commanded vehicle depth:973.640635 # Seafloor depth:-1024.959329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.411245 meters # Minimum depth: 1022.089634 meters looking forward 100.000000 meters along route # Maximum depth: 1024.142048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.089634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759520; longitude = -121.798919; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 972.089634; finalDepth = 973.640635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0524139999999 # Actual altitude: 52.0524139999999 # Commanded vehicle depth:972.089634 # Seafloor depth:-1024.142048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.411574 meters # Minimum depth: 1021.493029 meters looking forward 100.000000 meters along route # Maximum depth: 1022.754070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.493029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759218; longitude = -121.800024; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 971.493029; finalDepth = 972.089634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0524139999999 # Actual altitude: 52.0524139999999 # Commanded vehicle depth:971.493029 # Seafloor depth:-1021.493029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.411903 meters # Minimum depth: 1023.197549 meters looking forward 100.000000 meters along route # Maximum depth: 1025.761615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.197549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758917; longitude = -121.801130; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 973.197549; finalDepth = 971.493029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.197549 # Seafloor depth:-1023.197549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.412232 meters # Minimum depth: 1023.673052 meters looking forward 100.000000 meters along route # Maximum depth: 1027.358964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.673052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758615; longitude = -121.802235; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 973.673052; finalDepth = 973.197549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6652620000001 # Actual altitude: 53.6652620000001 # Commanded vehicle depth:973.673052 # Seafloor depth:-1027.338314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.412562 meters # Minimum depth: 1025.823014 meters looking forward 100.000000 meters along route # Maximum depth: 1029.986757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.823014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758314; longitude = -121.803341; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 975.823014; finalDepth = 973.673052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6652620000001 # Actual altitude: 53.6652620000001 # Commanded vehicle depth:975.823014 # Seafloor depth:-1026.114230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.412891 meters # Minimum depth: 1026.447919 meters looking forward 100.000000 meters along route # Maximum depth: 1031.935991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.447919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758012; longitude = -121.804447; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 976.447919; finalDepth = 975.823014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2912159999998 # Actual altitude: 50.2912159999998 # Commanded vehicle depth:976.447919 # Seafloor depth:-1026.447919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.413220 meters # Minimum depth: 1028.771241 meters looking forward 100.000000 meters along route # Maximum depth: 1031.474137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.771241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757710; longitude = -121.805552; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 978.771241; finalDepth = 976.447919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.771241 # Seafloor depth:-1028.771241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.413549 meters # Minimum depth: 1031.282912 meters looking forward 100.000000 meters along route # Maximum depth: 1034.664857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.282912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757409; longitude = -121.806658; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 981.282912; finalDepth = 978.771241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.282912 # Seafloor depth:-1031.282912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.413879 meters # Minimum depth: 1028.831802 meters looking forward 100.000000 meters along route # Maximum depth: 1031.410551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.831802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757107; longitude = -121.807764; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 978.831802; finalDepth = 981.282912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.578749 # Actual altitude: 52.578749 # Commanded vehicle depth:978.831802 # Seafloor depth:-1031.410551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.977905 meters # Minimum depth: 1027.764389 meters looking forward 100.000000 meters along route # Maximum depth: 1034.054567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.764389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756806; longitude = -121.808869; captureRadius = 10; duration = 122; abortOnTimeout = True; initialDepth = 977.764389; finalDepth = 978.831802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290178 # Actual altitude: 56.290178 # Commanded vehicle depth:977.764389 # Seafloor depth:-1034.054567 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 48.169328 meters # Minimum depth: 1030.203353 meters looking forward 100.000000 meters along route # Maximum depth: 1032.366521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.203353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756454; longitude = -121.810159; captureRadius = 10; duration = 48; abortOnTimeout = True; initialDepth = 980.203353; finalDepth = 977.764389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290178 # Actual altitude: 56.290178 # Commanded vehicle depth:980.203353 # Seafloor depth:-1032.161774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.620945 meters # Minimum depth: 1028.216688 meters looking forward 100.000000 meters along route # Maximum depth: 1033.046045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.216688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756236; longitude = -121.809698; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 978.216688; finalDepth = 980.203353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8293570000001 # Actual altitude: 54.8293570000001 # Commanded vehicle depth:978.216688 # Seafloor depth:-1033.046045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.580372 meters # Minimum depth: 1026.961497 meters looking forward 100.000000 meters along route # Maximum depth: 1030.805031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.961497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755712; longitude = -121.808593; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 976.961497; finalDepth = 978.216688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8293570000001 # Actual altitude: 54.8293570000001 # Commanded vehicle depth:976.961497 # Seafloor depth:-1026.961497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.757713 meters # Minimum depth: 1026.391239 meters looking forward 100.000000 meters along route # Maximum depth: 1027.129137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.391239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.807631; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 976.391239; finalDepth = 976.961497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7378979999999 # Actual altitude: 50.7378979999999 # Commanded vehicle depth:976.391239 # Seafloor depth:-1027.129137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.622581 meters # Minimum depth: 1024.158864 meters looking forward 100.000000 meters along route # Maximum depth: 1026.716379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.158864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754796; longitude = -121.806658; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 974.158864; finalDepth = 976.391239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.557515 # Actual altitude: 52.557515 # Commanded vehicle depth:974.158864 # Seafloor depth:-1026.716379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.623175 meters # Minimum depth: 1022.056518 meters looking forward 100.000000 meters along route # Maximum depth: 1025.126952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.056518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754272; longitude = -121.805552; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 972.056518; finalDepth = 974.158864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0704340000001 # Actual altitude: 53.0704340000001 # Commanded vehicle depth:972.056518 # Seafloor depth:-1025.126952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.623771 meters # Minimum depth: 1021.064370 meters looking forward 100.000000 meters along route # Maximum depth: 1023.206601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.064370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753748; longitude = -121.804447; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 971.064370; finalDepth = 972.056518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0704340000001 # Actual altitude: 53.0704340000001 # Commanded vehicle depth:971.06437 # Seafloor depth:-1023.074272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.582828 meters # Minimum depth: 1019.695367 meters looking forward 100.000000 meters along route # Maximum depth: 1021.464779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.695367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753224; longitude = -121.803341; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 969.695367; finalDepth = 971.064370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0099019999999 # Actual altitude: 52.0099019999999 # Commanded vehicle depth:969.695367 # Seafloor depth:-1020.143766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.760201 meters # Minimum depth: 1018.728797 meters looking forward 100.000000 meters along route # Maximum depth: 1021.203555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.728797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.802379; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 968.728797; finalDepth = 969.695367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851098 # Actual altitude: 51.851098 # Commanded vehicle depth:968.728797 # Seafloor depth:-1020.579895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.625406 meters # Minimum depth: 1016.877496 meters looking forward 100.000000 meters along route # Maximum depth: 1019.963449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.877496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752308; longitude = -121.801406; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 966.877496; finalDepth = 968.728797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.085953 # Actual altitude: 53.085953 # Commanded vehicle depth:966.877496 # Seafloor depth:-1019.963449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.626001 meters # Minimum depth: 1016.110517 meters looking forward 100.000000 meters along route # Maximum depth: 1018.613775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.110517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751784; longitude = -121.800301; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 966.110517; finalDepth = 966.877496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.085953 # Actual altitude: 53.085953 # Commanded vehicle depth:966.110517 # Seafloor depth:-1018.613775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.626595 meters # Minimum depth: 1015.409401 meters looking forward 100.000000 meters along route # Maximum depth: 1017.444275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.409401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751261; longitude = -121.799195; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 965.409401; finalDepth = 966.110517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5032580000001 # Actual altitude: 52.5032580000001 # Commanded vehicle depth:965.409401 # Seafloor depth:-1015.409401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.627191 meters # Minimum depth: 1015.020000 meters looking forward 100.000000 meters along route # Maximum depth: 1017.380232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.020000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750737; longitude = -121.798089; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 965.020000; finalDepth = 965.409401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.360232 # Actual altitude: 52.360232 # Commanded vehicle depth:965.02 # Seafloor depth:-1017.380232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.627786 meters # Minimum depth: 1013.898877 meters looking forward 100.000000 meters along route # Maximum depth: 1017.303000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.898877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750213; longitude = -121.796984; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 963.898877; finalDepth = 965.020000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.360232 # Actual altitude: 52.360232 # Commanded vehicle depth:963.898877 # Seafloor depth:-1013.933515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.628380 meters # Minimum depth: 1009.549626 meters looking forward 100.000000 meters along route # Maximum depth: 1013.867091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.549626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749689; longitude = -121.795878; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 959.549626; finalDepth = 963.898877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.317465 # Actual altitude: 54.317465 # Commanded vehicle depth:959.549626 # Seafloor depth:-1013.867091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 119.858381 meters # Minimum depth: 1009.613820 meters looking forward 100.000000 meters along route # Maximum depth: 1012.324269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.613820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749166; longitude = -121.794773; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 959.613820; finalDepth = 959.549626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.317465 # Actual altitude: 54.317465 # Commanded vehicle depth:959.61382 # Seafloor depth:-1009.613820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 122.053476 meters # Minimum depth: 1008.458477 meters looking forward 100.000000 meters along route # Maximum depth: 1011.119708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.458477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.793627; captureRadius = 10; duration = 122; abortOnTimeout = True; initialDepth = 958.458477; finalDepth = 959.613820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6612309999999 # Actual altitude: 52.6612309999999 # Commanded vehicle depth:958.458477 # Seafloor depth:-1011.119708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.976856 meters # Minimum depth: 1005.972080 meters looking forward 100.000000 meters along route # Maximum depth: 1008.774545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.972080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.792459; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 955.972080; finalDepth = 958.458477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6612309999999 # Actual altitude: 52.6612309999999 # Commanded vehicle depth:955.97208 # Seafloor depth:-1007.612903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.630760 meters # Minimum depth: 1006.106875 meters looking forward 100.000000 meters along route # Maximum depth: 1007.817174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.106875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747595; longitude = -121.791456; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 956.106875; finalDepth = 955.972080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.640823 # Actual altitude: 51.640823 # Commanded vehicle depth:956.106875 # Seafloor depth:-1006.426090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.631356 meters # Minimum depth: 1001.069086 meters looking forward 100.000000 meters along route # Maximum depth: 1006.024971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.069086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747071; longitude = -121.790350; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 951.069086; finalDepth = 956.106875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9558850000001 # Actual altitude: 54.9558850000001 # Commanded vehicle depth:951.069086 # Seafloor depth:-1006.024971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.631951 meters # Minimum depth: 999.385220 meters looking forward 100.000000 meters along route # Maximum depth: 1003.193931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.385220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746547; longitude = -121.789244; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 949.385220; finalDepth = 951.069086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9558850000001 # Actual altitude: 54.9558850000001 # Commanded vehicle depth:949.38522 # Seafloor depth:-1002.401071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.632546 meters # Minimum depth: 995.776540 meters looking forward 100.000000 meters along route # Maximum depth: 1000.515516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.776540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746023; longitude = -121.788139; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 945.776540; finalDepth = 949.385220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7389760000001 # Actual altitude: 54.7389760000001 # Commanded vehicle depth:945.77654 # Seafloor depth:-1000.515516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.633142 meters # Minimum depth: 997.652160 meters looking forward 100.000000 meters along route # Maximum depth: 998.091802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.652160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745500; longitude = -121.787033; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 947.652160; finalDepth = 945.776540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7389760000001 # Actual altitude: 54.7389760000001 # Commanded vehicle depth:947.65216 # Seafloor depth:-997.652160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.227146 meters # Minimum depth: 998.220509 meters looking forward 100.000000 meters along route # Maximum depth: 1000.619361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.220509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744976; longitude = -121.785928; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 948.220509; finalDepth = 947.652160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.220509 # Seafloor depth:-998.220509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.736297 meters # Minimum depth: 996.598322 meters looking forward 100.000000 meters along route # Maximum depth: 1001.627753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.598322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.784874; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 946.598322; finalDepth = 948.220509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.780042 # Actual altitude: 54.780042 # Commanded vehicle depth:946.598322 # Seafloor depth:-1001.378364 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 21.709590 meters # Minimum depth: 996.598322 meters looking forward 100.000000 meters along route # Maximum depth: 1000.832870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.598322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744016; longitude = -121.783901; captureRadius = 10; duration = 21; abortOnTimeout = True; initialDepth = 946.598322; finalDepth = 946.598322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.780042 # Actual altitude: 54.780042 # Commanded vehicle depth:946.598322 # Seafloor depth:-1000.832870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.992649 meters # Minimum depth: 996.918787 meters looking forward 100.000000 meters along route # Maximum depth: 999.674955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.918787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.784113; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 946.918787; finalDepth = 946.598322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2345479999999 # Actual altitude: 54.2345479999999 # Commanded vehicle depth:946.918787 # Seafloor depth:-999.674955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.293239 meters # Minimum depth: 990.229296 meters looking forward 100.000000 meters along route # Maximum depth: 995.946365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.229296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743496; longitude = -121.785098; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 940.229296; finalDepth = 946.918787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9081100000001 # Actual altitude: 53.9081100000001 # Commanded vehicle depth:940.229296 # Seafloor depth:-994.137406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.293737 meters # Minimum depth: 995.912839 meters looking forward 100.000000 meters along route # Maximum depth: 997.930044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.912839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743015; longitude = -121.786204; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 945.912839; finalDepth = 940.229296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9081100000001 # Actual altitude: 53.9081100000001 # Commanded vehicle depth:945.912839 # Seafloor depth:-996.061052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.294235 meters # Minimum depth: 998.198920 meters looking forward 100.000000 meters along route # Maximum depth: 1001.906740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.198920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742535; longitude = -121.787310; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 948.198920; finalDepth = 945.912839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1482130000001 # Actual altitude: 50.1482130000001 # Commanded vehicle depth:948.19892 # Seafloor depth:-998.198920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.294732 meters # Minimum depth: 997.025639 meters looking forward 100.000000 meters along route # Maximum depth: 999.237422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.025639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742055; longitude = -121.788415; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 947.025639; finalDepth = 948.198920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2117830000001 # Actual altitude: 52.2117830000001 # Commanded vehicle depth:947.025639 # Seafloor depth:-999.237422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.295230 meters # Minimum depth: 995.325012 meters looking forward 100.000000 meters along route # Maximum depth: 1000.484045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.325012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741575; longitude = -121.789521; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 945.325012; finalDepth = 947.025639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.159033 # Actual altitude: 55.159033 # Commanded vehicle depth:945.325012 # Seafloor depth:-1000.484045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 114.900017 meters # Minimum depth: 1001.254893 meters looking forward 100.000000 meters along route # Maximum depth: 1004.547895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.254893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741094; longitude = -121.790627; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 951.254893; finalDepth = 945.325012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.159033 # Actual altitude: 55.159033 # Commanded vehicle depth:951.254893 # Seafloor depth:-1001.254893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 111.691936 meters # Minimum depth: 1001.933641 meters looking forward 100.000000 meters along route # Maximum depth: 1003.642576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.933641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.791748; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 951.933641; finalDepth = 951.254893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.933641 # Seafloor depth:-1001.933641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.296723 meters # Minimum depth: 1001.624534 meters looking forward 100.000000 meters along route # Maximum depth: 1003.282265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.624534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740134; longitude = -121.792838; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 951.624534; finalDepth = 951.933641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657731 # Actual altitude: 51.657731 # Commanded vehicle depth:951.624534 # Seafloor depth:-1003.282265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.726922 meters # Minimum depth: 1001.633424 meters looking forward 100.000000 meters along route # Maximum depth: 1005.628217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.633424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739653; longitude = -121.793943; captureRadius = 10; duration = 122; abortOnTimeout = True; initialDepth = 951.633424; finalDepth = 951.624534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657731 # Actual altitude: 51.657731 # Commanded vehicle depth:951.633424 # Seafloor depth:-1001.633424 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 78.770049 meters # Minimum depth: 1004.496674 meters looking forward 100.000000 meters along route # Maximum depth: 1007.107282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.496674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739133; longitude = -121.795141; captureRadius = 10; duration = 78; abortOnTimeout = True; initialDepth = 954.496674; finalDepth = 951.633424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.496674 # Seafloor depth:-1004.496674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.136163 meters # Minimum depth: 1003.618405 meters looking forward 100.000000 meters along route # Maximum depth: 1007.125831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.618405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739511; longitude = -121.795878; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 953.618405; finalDepth = 954.496674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5074259999999 # Actual altitude: 53.5074259999999 # Commanded vehicle depth:953.618405 # Seafloor depth:-1007.125831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.135533 meters # Minimum depth: 1004.702073 meters looking forward 100.000000 meters along route # Maximum depth: 1009.297634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.702073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740078; longitude = -121.796984; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 954.702073; finalDepth = 953.618405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5074259999999 # Actual altitude: 53.5074259999999 # Commanded vehicle depth:954.702073 # Seafloor depth:-1004.702073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.134905 meters # Minimum depth: 1010.443015 meters looking forward 100.000000 meters along route # Maximum depth: 1013.269599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.443015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740646; longitude = -121.798089; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 960.443015; finalDepth = 954.702073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.443015 # Seafloor depth:-1010.443015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.134275 meters # Minimum depth: 1011.791045 meters looking forward 100.000000 meters along route # Maximum depth: 1015.965038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.791045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741213; longitude = -121.799195; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 961.791045; finalDepth = 960.443015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:961.791045 # Seafloor depth:-1011.791045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.133647 meters # Minimum depth: 1012.411136 meters looking forward 100.000000 meters along route # Maximum depth: 1016.916411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.411136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741780; longitude = -121.800301; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 962.411136; finalDepth = 961.791045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.100517 # Actual altitude: 53.100517 # Commanded vehicle depth:962.411136 # Seafloor depth:-1015.511653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.133018 meters # Minimum depth: 1014.652221 meters looking forward 100.000000 meters along route # Maximum depth: 1018.926125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.652221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742347; longitude = -121.801406; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 964.652221; finalDepth = 962.411136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.100517 # Actual altitude: 53.100517 # Commanded vehicle depth:964.652221 # Seafloor depth:-1015.289114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.132388 meters # Minimum depth: 1016.900153 meters looking forward 100.000000 meters along route # Maximum depth: 1017.911503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.900153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742914; longitude = -121.802512; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 966.900153; finalDepth = 964.652221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.636893 # Actual altitude: 50.636893 # Commanded vehicle depth:966.900153 # Seafloor depth:-1017.048669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 118.131760 meters # Minimum depth: 1018.985217 meters looking forward 100.000000 meters along route # Maximum depth: 1020.725137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.985217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743482; longitude = -121.803617; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 968.985217; finalDepth = 966.900153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.148516 # Actual altitude: 50.148516 # Commanded vehicle depth:968.985217 # Seafloor depth:-1019.082312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.330169 meters # Minimum depth: 1019.993540 meters looking forward 100.000000 meters along route # Maximum depth: 1023.772044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.993540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744049; longitude = -121.804723; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 969.993540; finalDepth = 968.985217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.661221 # Actual altitude: 51.661221 # Commanded vehicle depth:969.99354 # Seafloor depth:-1021.654761 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 30.003650 meters # Minimum depth: 1019.993540 meters looking forward 100.000000 meters along route # Maximum depth: 1021.699005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.993540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744569; longitude = -121.805737; captureRadius = 10; duration = 30; abortOnTimeout = True; initialDepth = 969.993540; finalDepth = 969.993540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.705465 # Actual altitude: 51.705465 # Commanded vehicle depth:969.99354 # Seafloor depth:-1021.699005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.303492 meters # Minimum depth: 1020.889214 meters looking forward 100.000000 meters along route # Maximum depth: 1022.691637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.889214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744794; longitude = -121.805552; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 970.889214; finalDepth = 969.993540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.705465 # Actual altitude: 51.705465 # Commanded vehicle depth:970.889214 # Seafloor depth:-1021.933208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.229613 meters # Minimum depth: 1016.761557 meters looking forward 100.000000 meters along route # Maximum depth: 1020.510423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.761557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.804904; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 966.761557; finalDepth = 970.889214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7488659999999 # Actual altitude: 53.7488659999999 # Commanded vehicle depth:966.761557 # Seafloor depth:-1020.510423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.202292 meters # Minimum depth: 1017.512914 meters looking forward 100.000000 meters along route # Maximum depth: 1021.094896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.512914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746475; longitude = -121.804170; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 967.512914; finalDepth = 966.761557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7488659999999 # Actual altitude: 53.7488659999999 # Commanded vehicle depth:967.512914 # Seafloor depth:-1019.796894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.715461 meters # Minimum depth: 1020.854499 meters looking forward 100.000000 meters along route # Maximum depth: 1022.071491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.854499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.803541; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 970.854499; finalDepth = 967.512914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2839799999999 # Actual altitude: 52.2839799999999 # Commanded vehicle depth:970.854499 # Seafloor depth:-1021.323787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.715134 meters # Minimum depth: 1017.795374 meters looking forward 100.000000 meters along route # Maximum depth: 1019.398833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.795374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.802860; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.795374; finalDepth = 970.854499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5802769999999 # Actual altitude: 51.5802769999999 # Commanded vehicle depth:967.795374 # Seafloor depth:-1019.375651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.714807 meters # Minimum depth: 1017.516974 meters looking forward 100.000000 meters along route # Maximum depth: 1019.624116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.516974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.802178; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.516974; finalDepth = 967.795374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5802769999999 # Actual altitude: 51.5802769999999 # Commanded vehicle depth:967.516974 # Seafloor depth:-1017.516974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.714480 meters # Minimum depth: 1016.344188 meters looking forward 100.000000 meters along route # Maximum depth: 1017.545544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.344188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.801497; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.344188; finalDepth = 967.516974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.750358 # Actual altitude: 50.750358 # Commanded vehicle depth:966.344188 # Seafloor depth:-1017.094546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.714152 meters # Minimum depth: 1016.614398 meters looking forward 100.000000 meters along route # Maximum depth: 1018.223282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.614398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.800815; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.614398; finalDepth = 966.344188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.750358 # Actual altitude: 50.750358 # Commanded vehicle depth:966.614398 # Seafloor depth:-1016.614398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.713825 meters # Minimum depth: 1016.094910 meters looking forward 100.000000 meters along route # Maximum depth: 1018.038342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.094910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.800134; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.094910; finalDepth = 966.614398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.09491 # Seafloor depth:-1016.094910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.713498 meters # Minimum depth: 1016.237094 meters looking forward 100.000000 meters along route # Maximum depth: 1018.277468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.237094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.799452; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.237094; finalDepth = 966.094910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4158570000001 # Actual altitude: 51.4158570000001 # Commanded vehicle depth:966.237094 # Seafloor depth:-1017.652951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.726019 meters # Minimum depth: 1017.257883 meters looking forward 100.000000 meters along route # Maximum depth: 1018.221617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.257883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.798771; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.257883; finalDepth = 966.237094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4158570000001 # Actual altitude: 51.4158570000001 # Commanded vehicle depth:967.257883 # Seafloor depth:-1018.221617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.699995 meters # Minimum depth: 1017.724462 meters looking forward 100.000000 meters along route # Maximum depth: 1019.193230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.724462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753875; longitude = -121.798089; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.724462; finalDepth = 967.257883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.963734 # Actual altitude: 50.963734 # Commanded vehicle depth:967.724462 # Seafloor depth:-1017.724462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 113.825841 meters # Minimum depth: 1016.324462 meters looking forward 100.000000 meters along route # Maximum depth: 1018.666245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.324462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.797408; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 966.324462; finalDepth = 967.724462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.341783 # Actual altitude: 52.341783 # Commanded vehicle depth:966.324462 # Seafloor depth:-1018.666245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 107.598864 meters # Minimum depth: 1016.105743 meters looking forward 100.000000 meters along route # Maximum depth: 1016.863919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.105743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755556; longitude = -121.796707; captureRadius = 10; duration = 107; abortOnTimeout = True; initialDepth = 966.105743; finalDepth = 966.324462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.341783 # Actual altitude: 52.341783 # Commanded vehicle depth:966.105743 # Seafloor depth:-1016.303340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 116.925625 meters # Minimum depth: 1015.870814 meters looking forward 100.000000 meters along route # Maximum depth: 1022.266491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.870814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.796045; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 965.870814; finalDepth = 966.105743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1975970000001 # Actual altitude: 50.1975970000001 # Commanded vehicle depth:965.870814 # Seafloor depth:-1015.870814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.497770 meters # Minimum depth: 1019.820274 meters looking forward 100.000000 meters along route # Maximum depth: 1022.028448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.820274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757238; longitude = -121.795325; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 969.820274; finalDepth = 965.870814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.208174 # Actual altitude: 52.208174 # Commanded vehicle depth:969.820274 # Seafloor depth:-1022.028448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.025374 meters # Minimum depth: 1020.459594 meters looking forward 100.000000 meters along route # Maximum depth: 1022.810339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.459594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.794682; captureRadius = 10; duration = 120; abortOnTimeout = True; initialDepth = 970.459594; finalDepth = 969.820274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.208174 # Actual altitude: 52.208174 # Commanded vehicle depth:970.459594 # Seafloor depth:-1020.459594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.396712 meters # Minimum depth: 1015.642289 meters looking forward 100.000000 meters along route # Maximum depth: 1019.071484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.642289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758920; longitude = -121.793943; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 965.642289; finalDepth = 970.459594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.429195 # Actual altitude: 53.429195 # Commanded vehicle depth:965.642289 # Seafloor depth:-1019.071484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.710553 meters # Minimum depth: 1015.660616 meters looking forward 100.000000 meters along route # Maximum depth: 1016.915513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.660616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.793319; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.660616; finalDepth = 965.642289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.429195 # Actual altitude: 53.429195 # Commanded vehicle depth:965.660616 # Seafloor depth:-1015.660616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.710225 meters # Minimum depth: 1016.244683 meters looking forward 100.000000 meters along route # Maximum depth: 1018.524576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.244683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.792638; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.244683; finalDepth = 965.660616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.987809 # Actual altitude: 51.987809 # Commanded vehicle depth:966.244683 # Seafloor depth:-1018.232492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 126.224760 meters # Minimum depth: 1016.363581 meters looking forward 100.000000 meters along route # Maximum depth: 1018.872272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.363581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.791956; captureRadius = 10; duration = 126; abortOnTimeout = True; initialDepth = 966.363581; finalDepth = 966.244683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.987809 # Actual altitude: 51.987809 # Commanded vehicle depth:966.363581 # Seafloor depth:-1016.363581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.784233 meters # Minimum depth: 1015.508804 meters looking forward 100.000000 meters along route # Maximum depth: 1018.856391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.508804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762283; longitude = -121.791179; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 965.508804; finalDepth = 966.363581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.347587 # Actual altitude: 53.347587 # Commanded vehicle depth:965.508804 # Seafloor depth:-1018.856391 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 83.606072 meters # Minimum depth: 1015.867048 meters looking forward 100.000000 meters along route # Maximum depth: 1017.304135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.867048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763180; longitude = -121.790442; captureRadius = 10; duration = 83; abortOnTimeout = True; initialDepth = 965.867048; finalDepth = 965.508804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.347587 # Actual altitude: 53.347587 # Commanded vehicle depth:965.867048 # Seafloor depth:-1016.655914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 114.920482 meters # Minimum depth: 1014.799138 meters looking forward 100.000000 meters along route # Maximum depth: 1017.606430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.799138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.790248; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 964.799138; finalDepth = 965.867048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7979340000001 # Actual altitude: 50.7979340000001 # Commanded vehicle depth:964.799138 # Seafloor depth:-1015.597072 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 49.161028 meters # Minimum depth: 1017.283484 meters looking forward 100.000000 meters along route # Maximum depth: 1017.685287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.283484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761430; longitude = -121.789982; captureRadius = 10; duration = 49; abortOnTimeout = True; initialDepth = 967.283484; finalDepth = 964.799138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7979340000001 # Actual altitude: 50.7979340000001 # Commanded vehicle depth:967.283484 # Seafloor depth:-1017.685287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.473595 meters # Minimum depth: 1014.392641 meters looking forward 100.000000 meters along route # Maximum depth: 1016.593620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.392641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.790283; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.392641; finalDepth = 967.283484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.200979 # Actual altitude: 52.200979 # Commanded vehicle depth:964.392641 # Seafloor depth:-1016.593620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.473918 meters # Minimum depth: 1014.980115 meters looking forward 100.000000 meters along route # Maximum depth: 1016.266011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.980115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.790960; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.980115; finalDepth = 964.392641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.200979 # Actual altitude: 52.200979 # Commanded vehicle depth:964.980115 # Seafloor depth:-1016.266011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.474241 meters # Minimum depth: 1013.184064 meters looking forward 100.000000 meters along route # Maximum depth: 1016.776017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.184064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.791637; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.184064; finalDepth = 964.980115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.591953 # Actual altitude: 53.591953 # Commanded vehicle depth:963.184064 # Seafloor depth:-1016.776017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.474564 meters # Minimum depth: 1013.226074 meters looking forward 100.000000 meters along route # Maximum depth: 1016.306895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.226074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.792313; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.226074; finalDepth = 963.184064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.591953 # Actual altitude: 53.591953 # Commanded vehicle depth:963.226074 # Seafloor depth:-1013.226074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.483736 meters # Minimum depth: 1018.021388 meters looking forward 100.000000 meters along route # Maximum depth: 1020.095088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.021388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.792990; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.021388; finalDepth = 963.226074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.361702 # Actual altitude: 51.361702 # Commanded vehicle depth:968.021388 # Seafloor depth:-1019.383090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.466362 meters # Minimum depth: 1017.881911 meters looking forward 100.000000 meters along route # Maximum depth: 1020.095221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.881911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.793667; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.881911; finalDepth = 968.021388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2133100000001 # Actual altitude: 52.2133100000001 # Commanded vehicle depth:967.881911 # Seafloor depth:-1020.095221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.139939 meters # Minimum depth: 1014.779801 meters looking forward 100.000000 meters along route # Maximum depth: 1019.412877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.779801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.794344; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 964.779801; finalDepth = 967.881911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.633076 # Actual altitude: 54.633076 # Commanded vehicle depth:964.779801 # Seafloor depth:-1019.412877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.811452 meters # Minimum depth: 1014.826978 meters looking forward 100.000000 meters along route # Maximum depth: 1016.722421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.826978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755222; longitude = -121.795049; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 964.826978; finalDepth = 964.779801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.633076 # Actual altitude: 54.633076 # Commanded vehicle depth:964.826978 # Seafloor depth:-1014.826978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.796198 meters # Minimum depth: 1015.636872 meters looking forward 100.000000 meters along route # Maximum depth: 1017.961590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.636872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.795697; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 965.636872; finalDepth = 964.826978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.636872 # Seafloor depth:-1015.636872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.156486 meters # Minimum depth: 1016.018783 meters looking forward 100.000000 meters along route # Maximum depth: 1018.480878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.018783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753528; longitude = -121.796431; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 966.018783; finalDepth = 965.636872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.462095 # Actual altitude: 52.462095 # Commanded vehicle depth:966.018783 # Seafloor depth:-1018.480878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.476827 meters # Minimum depth: 1015.989615 meters looking forward 100.000000 meters along route # Maximum depth: 1017.487262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.989615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.797051; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.989615; finalDepth = 966.018783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.462095 # Actual altitude: 52.462095 # Commanded vehicle depth:965.989615 # Seafloor depth:-1016.555824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.477150 meters # Minimum depth: 1015.988242 meters looking forward 100.000000 meters along route # Maximum depth: 1017.643653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.988242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.797727; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.988242; finalDepth = 965.989615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5662090000001 # Actual altitude: 50.5662090000001 # Commanded vehicle depth:965.988242 # Seafloor depth:-1016.401066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.477474 meters # Minimum depth: 1015.126060 meters looking forward 100.000000 meters along route # Maximum depth: 1015.771157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.126060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.798404; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.126060; finalDepth = 965.988242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.645097 # Actual altitude: 50.645097 # Commanded vehicle depth:965.12606 # Seafloor depth:-1015.771157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.477796 meters # Minimum depth: 1015.512201 meters looking forward 100.000000 meters along route # Maximum depth: 1018.202719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.512201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.799081; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.512201; finalDepth = 965.126060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.645097 # Actual altitude: 50.645097 # Commanded vehicle depth:965.512201 # Seafloor depth:-1015.512201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.478120 meters # Minimum depth: 1017.134472 meters looking forward 100.000000 meters along route # Maximum depth: 1017.951102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.134472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.799758; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.134472; finalDepth = 965.512201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.81663 # Actual altitude: 50.81663 # Commanded vehicle depth:967.134472 # Seafloor depth:-1017.951102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 113.532239 meters # Minimum depth: 1014.598857 meters looking forward 100.000000 meters along route # Maximum depth: 1019.699070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.598857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.800434; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 964.598857; finalDepth = 967.134472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8609280000001 # Actual altitude: 54.8609280000001 # Commanded vehicle depth:964.598857 # Seafloor depth:-1019.459785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.424971 meters # Minimum depth: 1014.952851 meters looking forward 100.000000 meters along route # Maximum depth: 1020.026533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.952851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747771; longitude = -121.801130; captureRadius = 10; duration = 107; abortOnTimeout = True; initialDepth = 964.952851; finalDepth = 964.598857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8609280000001 # Actual altitude: 54.8609280000001 # Commanded vehicle depth:964.952851 # Seafloor depth:-1014.952851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 118.188610 meters # Minimum depth: 1017.447818 meters looking forward 100.000000 meters along route # Maximum depth: 1021.360690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.447818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.801788; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 967.447818; finalDepth = 964.952851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.113291 # Actual altitude: 53.113291 # Commanded vehicle depth:967.447818 # Seafloor depth:-1020.561109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.769893 meters # Minimum depth: 1016.809429 meters looking forward 100.000000 meters along route # Maximum depth: 1017.694997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.809429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746077; longitude = -121.802512; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 966.809429; finalDepth = 967.447818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.113291 # Actual altitude: 53.113291 # Commanded vehicle depth:966.809429 # Seafloor depth:-1017.033608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.479736 meters # Minimum depth: 1016.455588 meters looking forward 100.000000 meters along route # Maximum depth: 1019.206069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.455588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.803141; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.455588; finalDepth = 966.809429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2241789999999 # Actual altitude: 50.2241789999999 # Commanded vehicle depth:966.455588 # Seafloor depth:-1016.455588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.480059 meters # Minimum depth: 1018.444139 meters looking forward 100.000000 meters along route # Maximum depth: 1020.833539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.444139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.803818; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.444139; finalDepth = 966.455588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.653938 # Actual altitude: 50.653938 # Commanded vehicle depth:968.444139 # Seafloor depth:-1019.098077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.480383 meters # Minimum depth: 1018.918834 meters looking forward 100.000000 meters along route # Maximum depth: 1024.132452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.918834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.804495; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.918834; finalDepth = 968.444139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.653938 # Actual altitude: 50.653938 # Commanded vehicle depth:968.918834 # Seafloor depth:-1018.918834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.480707 meters # Minimum depth: 1021.581583 meters looking forward 100.000000 meters along route # Maximum depth: 1024.762105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.581583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.805172; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.581583; finalDepth = 968.918834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.206921 # Actual altitude: 50.206921 # Commanded vehicle depth:971.581583 # Seafloor depth:-1021.788504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.481029 meters # Minimum depth: 1021.131799 meters looking forward 100.000000 meters along route # Maximum depth: 1024.724748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.131799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.805848; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.131799; finalDepth = 971.581583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9380140000001 # Actual altitude: 52.9380140000001 # Commanded vehicle depth:971.131799 # Seafloor depth:-1024.069813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.924453 meters # Minimum depth: 1023.337450 meters looking forward 100.000000 meters along route # Maximum depth: 1028.066558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.337450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.806525; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 973.337450; finalDepth = 971.131799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9380140000001 # Actual altitude: 52.9380140000001 # Commanded vehicle depth:973.33745 # Seafloor depth:-1024.654343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.038576 meters # Minimum depth: 1024.693828 meters looking forward 100.000000 meters along route # Maximum depth: 1027.940170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.693828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740320; longitude = -121.807211; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 974.693828; finalDepth = 973.337450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2463420000001 # Actual altitude: 53.2463420000001 # Commanded vehicle depth:974.693828 # Seafloor depth:-1027.940170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 116.580938 meters # Minimum depth: 1021.055893 meters looking forward 100.000000 meters along route # Maximum depth: 1024.192927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.055893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.807879; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 971.055893; finalDepth = 974.693828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2463420000001 # Actual altitude: 53.2463420000001 # Commanded vehicle depth:971.055893 # Seafloor depth:-1024.192927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.383384 meters # Minimum depth: 1022.818080 meters looking forward 100.000000 meters along route # Maximum depth: 1025.474949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.818080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738627; longitude = -121.808593; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 972.818080; finalDepth = 971.055893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1370340000001 # Actual altitude: 53.1370340000001 # Commanded vehicle depth:972.81808 # Seafloor depth:-1023.950557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.482646 meters # Minimum depth: 1019.265500 meters looking forward 100.000000 meters along route # Maximum depth: 1024.949710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.265500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.809232; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 969.265500; finalDepth = 972.818080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6842100000001 # Actual altitude: 55.6842100000001 # Commanded vehicle depth:969.2655 # Seafloor depth:-1024.949710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.482970 meters # Minimum depth: 1020.374742 meters looking forward 100.000000 meters along route # Maximum depth: 1030.006609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.374742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.809909; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 970.374742; finalDepth = 969.265500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6842100000001 # Actual altitude: 55.6842100000001 # Commanded vehicle depth:970.374742 # Seafloor depth:-1020.374742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.483293 meters # Minimum depth: 1031.020835 meters looking forward 100.000000 meters along route # Maximum depth: 1032.268950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.020835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.810586; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 981.020835; finalDepth = 970.374742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4791009999999 # Actual altitude: 50.4791009999999 # Commanded vehicle depth:981.020835 # Seafloor depth:-1031.499936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.483616 meters # Minimum depth: 1021.895133 meters looking forward 100.000000 meters along route # Maximum depth: 1027.974618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.895133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.811262; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.895133; finalDepth = 981.020835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.079485 # Actual altitude: 56.079485 # Commanded vehicle depth:971.895133 # Seafloor depth:-1027.974618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.483939 meters # Minimum depth: 1021.691180 meters looking forward 100.000000 meters along route # Maximum depth: 1026.824621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.691180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.811939; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.691180; finalDepth = 971.895133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.079485 # Actual altitude: 56.079485 # Commanded vehicle depth:971.69118 # Seafloor depth:-1021.691180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.518896 meters # Minimum depth: 1022.239313 meters looking forward 100.000000 meters along route # Maximum depth: 1023.589224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.239313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.812616; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 972.239313; finalDepth = 971.691180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3499109999999 # Actual altitude: 51.3499109999999 # Commanded vehicle depth:972.239313 # Seafloor depth:-1023.589224 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 42.057800 meters # Minimum depth: 1022.289783 meters looking forward 100.000000 meters along route # Maximum depth: 1025.287354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.289783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732800; longitude = -121.813348; captureRadius = 10; duration = 42; abortOnTimeout = True; initialDepth = 972.289783; finalDepth = 972.239313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3499109999999 # Actual altitude: 51.3499109999999 # Commanded vehicle depth:972.289783 # Seafloor depth:-1022.781006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 107.949677 meters # Minimum depth: 1023.420976 meters looking forward 100.000000 meters along route # Maximum depth: 1025.553227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.420976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.812960; captureRadius = 10; duration = 107; abortOnTimeout = True; initialDepth = 973.420976; finalDepth = 972.289783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1322510000001 # Actual altitude: 52.1322510000001 # Commanded vehicle depth:973.420976 # Seafloor depth:-1025.553227 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 71.127241 meters # Minimum depth: 1023.420976 meters looking forward 100.000000 meters along route # Maximum depth: 1024.434052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.420976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732056; longitude = -121.811963; captureRadius = 10; duration = 71; abortOnTimeout = True; initialDepth = 973.420976; finalDepth = 973.420976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1322510000001 # Actual altitude: 52.1322510000001 # Commanded vehicle depth:973.420976 # Seafloor depth:-1023.598557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.366093 meters # Minimum depth: 1020.528615 meters looking forward 100.000000 meters along route # Maximum depth: 1023.972565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.528615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.811530; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 970.528615; finalDepth = 973.420976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4439500000001 # Actual altitude: 53.4439500000001 # Commanded vehicle depth:970.528615 # Seafloor depth:-1023.972565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.951237 meters # Minimum depth: 1020.227305 meters looking forward 100.000000 meters along route # Maximum depth: 1022.055344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.227305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733490; longitude = -121.810804; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 970.227305; finalDepth = 970.528615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4439500000001 # Actual altitude: 53.4439500000001 # Commanded vehicle depth:970.227305 # Seafloor depth:-1021.214232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.158189 meters # Minimum depth: 1020.249888 meters looking forward 100.000000 meters along route # Maximum depth: 1034.069202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.249888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.810190; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 970.249888; finalDepth = 970.227305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.986927 # Actual altitude: 50.986927 # Commanded vehicle depth:970.249888 # Seafloor depth:-1020.249888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.157870 meters # Minimum depth: 1022.514276 meters looking forward 100.000000 meters along route # Maximum depth: 1032.070331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.514276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.809520; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 972.514276; finalDepth = 970.249888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5560549999999 # Actual altitude: 59.5560549999999 # Commanded vehicle depth:972.514276 # Seafloor depth:-1032.070331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.157553 meters # Minimum depth: 1021.276202 meters looking forward 100.000000 meters along route # Maximum depth: 1022.795045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.276202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.808849; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.276202; finalDepth = 972.514276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5560549999999 # Actual altitude: 59.5560549999999 # Commanded vehicle depth:971.276202 # Seafloor depth:-1022.795045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 113.726318 meters # Minimum depth: 1017.098639 meters looking forward 100.000000 meters along route # Maximum depth: 1019.970681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.098639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.808179; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 967.098639; finalDepth = 971.276202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8059049999999 # Actual altitude: 52.8059049999999 # Commanded vehicle depth:967.098639 # Seafloor depth:-1019.904544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.587834 meters # Minimum depth: 1016.880149 meters looking forward 100.000000 meters along route # Maximum depth: 1023.193560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.880149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737594; longitude = -121.807487; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 966.880149; finalDepth = 967.098639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8059049999999 # Actual altitude: 52.8059049999999 # Commanded vehicle depth:966.880149 # Seafloor depth:-1016.880149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.156599 meters # Minimum depth: 1020.058052 meters looking forward 100.000000 meters along route # Maximum depth: 1021.716263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.058052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.806839; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 970.058052; finalDepth = 966.880149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.739421 # Actual altitude: 50.739421 # Commanded vehicle depth:970.058052 # Seafloor depth:-1020.797473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.156282 meters # Minimum depth: 1020.881568 meters looking forward 100.000000 meters along route # Maximum depth: 1024.399898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.881568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.806168; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 970.881568; finalDepth = 970.058052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.953991 # Actual altitude: 50.953991 # Commanded vehicle depth:970.881568 # Seafloor depth:-1021.835559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.155964 meters # Minimum depth: 1019.706428 meters looking forward 100.000000 meters along route # Maximum depth: 1022.622978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.706428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.805498; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 969.706428; finalDepth = 970.881568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.953991 # Actual altitude: 50.953991 # Commanded vehicle depth:969.706428 # Seafloor depth:-1019.751878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.155646 meters # Minimum depth: 1018.235749 meters looking forward 100.000000 meters along route # Maximum depth: 1022.939059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.235749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.804828; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.235749; finalDepth = 969.706428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9706769999999 # Actual altitude: 50.9706769999999 # Commanded vehicle depth:968.235749 # Seafloor depth:-1019.206426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.155328 meters # Minimum depth: 1018.252316 meters looking forward 100.000000 meters along route # Maximum depth: 1020.399836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.252316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.804158; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.252316; finalDepth = 968.235749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9706769999999 # Actual altitude: 50.9706769999999 # Commanded vehicle depth:968.252316 # Seafloor depth:-1018.252316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 114.916512 meters # Minimum depth: 1015.897986 meters looking forward 100.000000 meters along route # Maximum depth: 1019.253798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.897986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.803487; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 965.897986; finalDepth = 968.252316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.384536 # Actual altitude: 52.384536 # Commanded vehicle depth:965.897986 # Seafloor depth:-1018.282522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.393191 meters # Minimum depth: 1015.992220 meters looking forward 100.000000 meters along route # Maximum depth: 1020.288826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.992220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743407; longitude = -121.802788; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 965.992220; finalDepth = 965.897986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.384536 # Actual altitude: 52.384536 # Commanded vehicle depth:965.99222 # Seafloor depth:-1015.992220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.154376 meters # Minimum depth: 1017.607276 meters looking forward 100.000000 meters along route # Maximum depth: 1017.829274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.607276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.802147; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.607276; finalDepth = 965.992220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.163257 # Actual altitude: 50.163257 # Commanded vehicle depth:967.607276 # Seafloor depth:-1017.770533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.154057 meters # Minimum depth: 1018.132680 meters looking forward 100.000000 meters along route # Maximum depth: 1022.143032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.132680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.801477; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.132680; finalDepth = 967.607276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.163257 # Actual altitude: 50.163257 # Commanded vehicle depth:968.13268 # Seafloor depth:-1018.132680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.153739 meters # Minimum depth: 1015.708825 meters looking forward 100.000000 meters along route # Maximum depth: 1019.833855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.708825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.800807; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.708825; finalDepth = 968.132680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.957633 # Actual altitude: 53.957633 # Commanded vehicle depth:965.708825 # Seafloor depth:-1019.666458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.153422 meters # Minimum depth: 1016.913672 meters looking forward 100.000000 meters along route # Maximum depth: 1018.757045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.913672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.800136; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.913672; finalDepth = 965.708825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.957633 # Actual altitude: 53.957633 # Commanded vehicle depth:966.913672 # Seafloor depth:-1018.318225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.153105 meters # Minimum depth: 1015.624203 meters looking forward 100.000000 meters along route # Maximum depth: 1017.289469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.624203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.799466; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.624203; finalDepth = 966.913672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6652660000001 # Actual altitude: 51.6652660000001 # Commanded vehicle depth:965.624203 # Seafloor depth:-1017.289469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.106656 meters # Minimum depth: 1013.326600 meters looking forward 100.000000 meters along route # Maximum depth: 1016.111383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.326600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.798796; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 963.326600; finalDepth = 965.624203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6652660000001 # Actual altitude: 51.6652660000001 # Commanded vehicle depth:963.3266 # Seafloor depth:-1013.326600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.198599 meters # Minimum depth: 1014.036950 meters looking forward 100.000000 meters along route # Maximum depth: 1015.816345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.036950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749220; longitude = -121.798089; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 964.036950; finalDepth = 963.326600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7793949999999 # Actual altitude: 51.7793949999999 # Commanded vehicle depth:964.03695 # Seafloor depth:-1015.816345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.152151 meters # Minimum depth: 1014.310850 meters looking forward 100.000000 meters along route # Maximum depth: 1016.400994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.310850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.797455; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.310850; finalDepth = 964.036950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7793949999999 # Actual altitude: 51.7793949999999 # Commanded vehicle depth:964.31085 # Seafloor depth:-1014.310850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.151833 meters # Minimum depth: 1014.908009 meters looking forward 100.000000 meters along route # Maximum depth: 1017.971468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.908009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.796785; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.908009; finalDepth = 964.310850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.345672 # Actual altitude: 50.345672 # Commanded vehicle depth:964.908009 # Seafloor depth:-1015.253681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.151516 meters # Minimum depth: 1014.792148 meters looking forward 100.000000 meters along route # Maximum depth: 1017.678653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.792148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.796115; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.792148; finalDepth = 964.908009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.345672 # Actual altitude: 50.345672 # Commanded vehicle depth:964.792148 # Seafloor depth:-1014.792148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.467238 meters # Minimum depth: 1012.845624 meters looking forward 100.000000 meters along route # Maximum depth: 1014.400923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.845624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.795445; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.845624; finalDepth = 964.792148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.555299 # Actual altitude: 51.555299 # Commanded vehicle depth:962.845624 # Seafloor depth:-1014.400923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.834840 meters # Minimum depth: 1012.186535 meters looking forward 100.000000 meters along route # Maximum depth: 1013.114519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.186535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753324; longitude = -121.794773; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 962.186535; finalDepth = 962.845624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.555299 # Actual altitude: 51.555299 # Commanded vehicle depth:962.186535 # Seafloor depth:-1012.863457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.296754 meters # Minimum depth: 1013.844433 meters looking forward 100.000000 meters along route # Maximum depth: 1017.505249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.844433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.794104; captureRadius = 10; duration = 117; abortOnTimeout = True; initialDepth = 963.844433; finalDepth = 962.186535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.676922 # Actual altitude: 50.676922 # Commanded vehicle depth:963.844433 # Seafloor depth:-1013.844433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.004053 meters # Minimum depth: 1015.391006 meters looking forward 100.000000 meters along route # Maximum depth: 1017.156096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.391006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755034; longitude = -121.793391; captureRadius = 10; duration = 103; abortOnTimeout = True; initialDepth = 965.391006; finalDepth = 963.844433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7650900000001 # Actual altitude: 51.7650900000001 # Commanded vehicle depth:965.391006 # Seafloor depth:-1017.156096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.149928 meters # Minimum depth: 1015.541958 meters looking forward 100.000000 meters along route # Maximum depth: 1018.475294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.541958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.792764; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.541958; finalDepth = 965.391006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7650900000001 # Actual altitude: 51.7650900000001 # Commanded vehicle depth:965.541958 # Seafloor depth:-1015.541958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.149609 meters # Minimum depth: 1011.192850 meters looking forward 100.000000 meters along route # Maximum depth: 1018.206025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.192850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.792094; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.192850; finalDepth = 965.541958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0131749999999 # Actual altitude: 57.0131749999999 # Commanded vehicle depth:961.19285 # Seafloor depth:-1018.206025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.149292 meters # Minimum depth: 1011.103302 meters looking forward 100.000000 meters along route # Maximum depth: 1014.825078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.103302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.791423; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.103302; finalDepth = 961.192850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0131749999999 # Actual altitude: 57.0131749999999 # Commanded vehicle depth:961.103302 # Seafloor depth:-1014.825078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.657433 meters # Minimum depth: 1013.319899 meters looking forward 100.000000 meters along route # Maximum depth: 1015.211755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.319899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.790753; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 963.319899; finalDepth = 961.103302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.721776 # Actual altitude: 53.721776 # Commanded vehicle depth:963.319899 # Seafloor depth:-1014.185460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.640198 meters # Minimum depth: 1013.525805 meters looking forward 100.000000 meters along route # Maximum depth: 1018.072754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.525805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759138; longitude = -121.790074; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 963.525805; finalDepth = 963.319899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8655610000001 # Actual altitude: 50.8655610000001 # Commanded vehicle depth:963.525805 # Seafloor depth:-1013.525805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 124.681242 meters # Minimum depth: 1012.622179 meters looking forward 100.000000 meters along route # Maximum depth: 1014.208160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.622179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.789413; captureRadius = 10; duration = 124; abortOnTimeout = True; initialDepth = 962.622179; finalDepth = 963.525805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5859810000001 # Actual altitude: 51.5859810000001 # Commanded vehicle depth:962.622179 # Seafloor depth:-1014.208160 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 25.842697 meters # Minimum depth: 1013.481256 meters looking forward 100.000000 meters along route # Maximum depth: 1014.528687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.481256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760894; longitude = -121.788654; captureRadius = 10; duration = 25; abortOnTimeout = True; initialDepth = 963.481256; finalDepth = 962.622179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5859810000001 # Actual altitude: 51.5859810000001 # Commanded vehicle depth:963.481256 # Seafloor depth:-1014.528687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 124.204624 meters # Minimum depth: 1010.489446 meters looking forward 100.000000 meters along route # Maximum depth: 1014.089620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.489446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760766; longitude = -121.788415; captureRadius = 10; duration = 124; abortOnTimeout = True; initialDepth = 960.489446; finalDepth = 963.481256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6001739999999 # Actual altitude: 53.6001739999999 # Commanded vehicle depth:960.489446 # Seafloor depth:-1014.089620 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 62.569054 meters # Minimum depth: 1010.489446 meters looking forward 100.000000 meters along route # Maximum depth: 1012.388506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.489446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760150; longitude = -121.787268; captureRadius = 10; duration = 62; abortOnTimeout = True; initialDepth = 960.489446; finalDepth = 960.489446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6001739999999 # Actual altitude: 53.6001739999999 # Commanded vehicle depth:960.489446 # Seafloor depth:-1011.025604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.150246 meters # Minimum depth: 1011.774396 meters looking forward 100.000000 meters along route # Maximum depth: 1013.200753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.774396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.787649; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.774396; finalDepth = 960.489446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.536158 # Actual altitude: 50.536158 # Commanded vehicle depth:961.774396 # Seafloor depth:-1011.774396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.150564 meters # Minimum depth: 1011.141535 meters looking forward 100.000000 meters along route # Maximum depth: 1012.661555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.141535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.788319; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.141535; finalDepth = 961.774396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.52002 # Actual altitude: 51.52002 # Commanded vehicle depth:961.141535 # Seafloor depth:-1012.661555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.150881 meters # Minimum depth: 1011.163620 meters looking forward 100.000000 meters along route # Maximum depth: 1012.421475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.163620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.788989; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.163620; finalDepth = 961.141535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.52002 # Actual altitude: 51.52002 # Commanded vehicle depth:961.16362 # Seafloor depth:-1012.375855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.495517 meters # Minimum depth: 1008.137638 meters looking forward 100.000000 meters along route # Maximum depth: 1011.182296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.137638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.789660; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 958.137638; finalDepth = 961.163620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4871539999999 # Actual altitude: 51.4871539999999 # Commanded vehicle depth:958.137638 # Seafloor depth:-1009.624792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.807199 meters # Minimum depth: 1009.197055 meters looking forward 100.000000 meters along route # Maximum depth: 1011.216870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.197055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756337; longitude = -121.790350; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 959.197055; finalDepth = 958.137638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.019815 # Actual altitude: 52.019815 # Commanded vehicle depth:959.197055 # Seafloor depth:-1011.216870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.151835 meters # Minimum depth: 1010.205443 meters looking forward 100.000000 meters along route # Maximum depth: 1015.184646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.205443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.791000; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.205443; finalDepth = 959.197055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.019815 # Actual altitude: 52.019815 # Commanded vehicle depth:960.205443 # Seafloor depth:-1010.205443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.152152 meters # Minimum depth: 1014.085085 meters looking forward 100.000000 meters along route # Maximum depth: 1015.735389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.085085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.791670; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.085085; finalDepth = 960.205443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.650304 # Actual altitude: 51.650304 # Commanded vehicle depth:964.085085 # Seafloor depth:-1015.735389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.152470 meters # Minimum depth: 1014.575983 meters looking forward 100.000000 meters along route # Maximum depth: 1015.508420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.575983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.792341; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.575983; finalDepth = 964.085085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.650304 # Actual altitude: 51.650304 # Commanded vehicle depth:964.575983 # Seafloor depth:-1014.575983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.152787 meters # Minimum depth: 1012.007351 meters looking forward 100.000000 meters along route # Maximum depth: 1014.803542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.007351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.793011; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.007351; finalDepth = 964.575983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.796191 # Actual altitude: 52.796191 # Commanded vehicle depth:962.007351 # Seafloor depth:-1014.803542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.153106 meters # Minimum depth: 1011.471586 meters looking forward 100.000000 meters along route # Maximum depth: 1013.989563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.471586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.793681; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.471586; finalDepth = 962.007351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.796191 # Actual altitude: 52.796191 # Commanded vehicle depth:961.471586 # Seafloor depth:-1012.067151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 114.657153 meters # Minimum depth: 1011.737556 meters looking forward 100.000000 meters along route # Maximum depth: 1015.293035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.737556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.794351; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 961.737556; finalDepth = 961.471586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.595565 # Actual altitude: 50.595565 # Commanded vehicle depth:961.737556 # Seafloor depth:-1011.737556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.650010 meters # Minimum depth: 1011.422834 meters looking forward 100.000000 meters along route # Maximum depth: 1016.085071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.422834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750524; longitude = -121.795049; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 961.422834; finalDepth = 961.737556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7465900000001 # Actual altitude: 53.7465900000001 # Commanded vehicle depth:961.422834 # Seafloor depth:-1015.169424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.154058 meters # Minimum depth: 1010.681944 meters looking forward 100.000000 meters along route # Maximum depth: 1013.132483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.681944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.795692; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.681944; finalDepth = 961.422834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7465900000001 # Actual altitude: 53.7465900000001 # Commanded vehicle depth:960.681944 # Seafloor depth:-1011.045656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.154376 meters # Minimum depth: 1012.155494 meters looking forward 100.000000 meters along route # Maximum depth: 1014.175389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.155494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.796362; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.155494; finalDepth = 960.681944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.782502 # Actual altitude: 51.782502 # Commanded vehicle depth:962.155494 # Seafloor depth:-1013.937996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.154694 meters # Minimum depth: 1009.771842 meters looking forward 100.000000 meters along route # Maximum depth: 1012.983835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.771842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.797032; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.771842; finalDepth = 962.155494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.06015 # Actual altitude: 53.06015 # Commanded vehicle depth:959.771842 # Seafloor depth:-1012.831992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.155012 meters # Minimum depth: 1011.586639 meters looking forward 100.000000 meters along route # Maximum depth: 1015.119794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.586639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.797703; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.586639; finalDepth = 959.771842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.06015 # Actual altitude: 53.06015 # Commanded vehicle depth:961.586639 # Seafloor depth:-1014.408121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.155329 meters # Minimum depth: 1014.903237 meters looking forward 100.000000 meters along route # Maximum depth: 1017.197866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.903237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.798373; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.903237; finalDepth = 961.586639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8214820000001 # Actual altitude: 52.8214820000001 # Commanded vehicle depth:964.903237 # Seafloor depth:-1014.903237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.818837 meters # Minimum depth: 1011.952909 meters looking forward 100.000000 meters along route # Maximum depth: 1018.308823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.952909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.799043; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 961.952909; finalDepth = 964.903237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7843290000001 # Actual altitude: 54.7843290000001 # Commanded vehicle depth:961.952909 # Seafloor depth:-1016.737238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.492774 meters # Minimum depth: 1014.242548 meters looking forward 100.000000 meters along route # Maximum depth: 1016.499332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.242548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744711; longitude = -121.799748; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 964.242548; finalDepth = 961.952909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7843290000001 # Actual altitude: 54.7843290000001 # Commanded vehicle depth:964.242548 # Seafloor depth:-1016.366885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.156283 meters # Minimum depth: 1014.864992 meters looking forward 100.000000 meters along route # Maximum depth: 1016.885429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.864992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.800384; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.864992; finalDepth = 964.242548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.124337 # Actual altitude: 52.124337 # Commanded vehicle depth:964.864992 # Seafloor depth:-1014.864992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.156600 meters # Minimum depth: 1014.068879 meters looking forward 100.000000 meters along route # Maximum depth: 1016.320706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.068879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.801054; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.068879; finalDepth = 964.864992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.523793 # Actual altitude: 51.523793 # Commanded vehicle depth:964.068879 # Seafloor depth:-1015.592672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.156918 meters # Minimum depth: 1014.067383 meters looking forward 100.000000 meters along route # Maximum depth: 1018.987750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.067383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.801724; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.067383; finalDepth = 964.068879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.523793 # Actual altitude: 51.523793 # Commanded vehicle depth:964.067383 # Seafloor depth:-1014.067383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.159050 meters # Minimum depth: 1017.386094 meters looking forward 100.000000 meters along route # Maximum depth: 1018.112618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.386094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.802394; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.386094; finalDepth = 964.067383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.512343 # Actual altitude: 50.512343 # Commanded vehicle depth:967.386094 # Seafloor depth:-1017.898437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.155738 meters # Minimum depth: 1017.026792 meters looking forward 100.000000 meters along route # Maximum depth: 1018.319186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.026792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.803065; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.026792; finalDepth = 967.386094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.982992 # Actual altitude: 50.982992 # Commanded vehicle depth:967.026792 # Seafloor depth:-1018.009784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 116.980569 meters # Minimum depth: 1016.929119 meters looking forward 100.000000 meters along route # Maximum depth: 1018.651120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.929119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.803735; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 966.929119; finalDepth = 967.026792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.982992 # Actual altitude: 50.982992 # Commanded vehicle depth:966.929119 # Seafloor depth:-1017.301847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.335491 meters # Minimum depth: 1018.275294 meters looking forward 100.000000 meters along route # Maximum depth: 1020.186385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.275294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738897; longitude = -121.804447; captureRadius = 10; duration = 103; abortOnTimeout = True; initialDepth = 968.275294; finalDepth = 966.929119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4974579999999 # Actual altitude: 50.4974579999999 # Commanded vehicle depth:968.275294 # Seafloor depth:-1018.772752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.158507 meters # Minimum depth: 1018.884470 meters looking forward 100.000000 meters along route # Maximum depth: 1020.188730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.884470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.805075; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 968.884470; finalDepth = 968.275294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.30426 # Actual altitude: 51.30426 # Commanded vehicle depth:968.88447 # Seafloor depth:-1020.188730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.158825 meters # Minimum depth: 1014.700671 meters looking forward 100.000000 meters along route # Maximum depth: 1018.254155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.700671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.805746; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.700671; finalDepth = 968.884470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6876769999999 # Actual altitude: 51.6876769999999 # Commanded vehicle depth:964.700671 # Seafloor depth:-1016.388348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.159142 meters # Minimum depth: 1016.173200 meters looking forward 100.000000 meters along route # Maximum depth: 1018.041892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.173200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.806416; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.173200; finalDepth = 964.700671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.868692 # Actual altitude: 51.868692 # Commanded vehicle depth:966.1732 # Seafloor depth:-1018.041892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.320684 meters # Minimum depth: 1020.871129 meters looking forward 100.000000 meters along route # Maximum depth: 1030.166111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.871129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.807086; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 970.871129; finalDepth = 966.173200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.868692 # Actual altitude: 51.868692 # Commanded vehicle depth:970.871129 # Seafloor depth:-1020.871129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.998554 meters # Minimum depth: 1021.155100 meters looking forward 100.000000 meters along route # Maximum depth: 1029.927540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.155100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734794; longitude = -121.807764; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 971.155100; finalDepth = 970.871129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.77244 # Actual altitude: 58.77244 # Commanded vehicle depth:971.1551 # Seafloor depth:-1029.927540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 118.142347 meters # Minimum depth: 1017.655955 meters looking forward 100.000000 meters along route # Maximum depth: 1022.119709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.655955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.808427; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 967.655955; finalDepth = 971.155100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.77244 # Actual altitude: 58.77244 # Commanded vehicle depth:967.655955 # Seafloor depth:-1022.119709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.178162 meters # Minimum depth: 1018.194045 meters looking forward 100.000000 meters along route # Maximum depth: 1021.746627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.194045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733084; longitude = -121.809146; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 968.194045; finalDepth = 967.655955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.463754 # Actual altitude: 54.463754 # Commanded vehicle depth:968.194045 # Seafloor depth:-1018.194045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 133.248486 meters # Minimum depth: 1019.565532 meters looking forward 100.000000 meters along route # Maximum depth: 1025.242380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.565532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.809767; captureRadius = 10; duration = 133; abortOnTimeout = True; initialDepth = 969.565532; finalDepth = 968.194045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.938262 # Actual altitude: 51.938262 # Commanded vehicle depth:969.565532 # Seafloor depth:-1021.503794 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 35.396637 meters # Minimum depth: 1017.795131 meters looking forward 100.000000 meters along route # Maximum depth: 1022.934648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.795131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731312; longitude = -121.810578; captureRadius = 10; duration = 35; abortOnTimeout = True; initialDepth = 967.795131; finalDepth = 969.565532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3942460000001 # Actual altitude: 52.3942460000001 # Commanded vehicle depth:967.795131 # Seafloor depth:-1020.189377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 114.612874 meters # Minimum depth: 1017.809037 meters looking forward 100.000000 meters along route # Maximum depth: 1018.952736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.809037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731136; longitude = -121.810251; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 967.809037; finalDepth = 967.795131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3942460000001 # Actual altitude: 52.3942460000001 # Commanded vehicle depth:967.809037 # Seafloor depth:-1017.809037 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 85.208197 meters # Minimum depth: 1017.143626 meters looking forward 100.000000 meters along route # Maximum depth: 1018.853684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.143626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730568; longitude = -121.809193; captureRadius = 10; duration = 85; abortOnTimeout = True; initialDepth = 967.143626; finalDepth = 967.809037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5622 # Actual altitude: 51.5622 # Commanded vehicle depth:967.143626 # Seafloor depth:-1018.705826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.160889 meters # Minimum depth: 1017.179682 meters looking forward 100.000000 meters along route # Maximum depth: 1018.272923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.179682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.808675; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 967.179682; finalDepth = 967.143626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5622 # Actual altitude: 51.5622 # Commanded vehicle depth:967.179682 # Seafloor depth:-1017.983110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.160572 meters # Minimum depth: 1016.904721 meters looking forward 100.000000 meters along route # Maximum depth: 1017.750146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.904721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.808004; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 966.904721; finalDepth = 967.179682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8034280000001 # Actual altitude: 50.8034280000001 # Commanded vehicle depth:966.904721 # Seafloor depth:-1017.130266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.121183 meters # Minimum depth: 1015.599885 meters looking forward 100.000000 meters along route # Maximum depth: 1017.936630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.599885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.807334; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 965.599885; finalDepth = 966.904721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.225545 # Actual altitude: 50.225545 # Commanded vehicle depth:965.599885 # Seafloor depth:-1015.783555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.199007 meters # Minimum depth: 1016.280787 meters looking forward 100.000000 meters along route # Maximum depth: 1025.645851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.280787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733704; longitude = -121.806658; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 966.280787; finalDepth = 965.599885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.18367 # Actual altitude: 50.18367 # Commanded vehicle depth:966.280787 # Seafloor depth:-1016.280787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 117.941512 meters # Minimum depth: 1021.466316 meters looking forward 100.000000 meters along route # Maximum depth: 1030.047230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.466316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.805994; captureRadius = 10; duration = 117; abortOnTimeout = True; initialDepth = 971.466316; finalDepth = 966.280787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9335209999999 # Actual altitude: 57.9335209999999 # Commanded vehicle depth:971.466316 # Seafloor depth:-1029.399837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.377408 meters # Minimum depth: 1014.996518 meters looking forward 100.000000 meters along route # Maximum depth: 1020.015370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.996518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735414; longitude = -121.805276; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 964.996518; finalDepth = 971.466316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9335209999999 # Actual altitude: 57.9335209999999 # Commanded vehicle depth:964.996518 # Seafloor depth:-1020.015370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.158983 meters # Minimum depth: 1013.190828 meters looking forward 100.000000 meters along route # Maximum depth: 1015.710878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.190828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.804653; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.190828; finalDepth = 964.996518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0188519999999 # Actual altitude: 55.0188519999999 # Commanded vehicle depth:963.190828 # Seafloor depth:-1014.633084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.158665 meters # Minimum depth: 1012.642813 meters looking forward 100.000000 meters along route # Maximum depth: 1014.283179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.642813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.803983; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.642813; finalDepth = 963.190828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.442256 # Actual altitude: 51.442256 # Commanded vehicle depth:962.642813 # Seafloor depth:-1013.767042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.158348 meters # Minimum depth: 1012.473808 meters looking forward 100.000000 meters along route # Maximum depth: 1014.143007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.473808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.803312; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.473808; finalDepth = 962.642813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1242289999999 # Actual altitude: 51.1242289999999 # Commanded vehicle depth:962.473808 # Seafloor depth:-1012.564313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.278330 meters # Minimum depth: 1011.688589 meters looking forward 100.000000 meters along route # Maximum depth: 1015.753497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.688589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.802642; captureRadius = 10; duration = 112; abortOnTimeout = True; initialDepth = 961.688589; finalDepth = 962.473808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0649080000001 # Actual altitude: 54.0649080000001 # Commanded vehicle depth:961.688589 # Seafloor depth:-1015.753497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.037412 meters # Minimum depth: 1009.308213 meters looking forward 100.000000 meters along route # Maximum depth: 1014.485494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.308213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739517; longitude = -121.801959; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 959.308213; finalDepth = 961.688589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.177281 # Actual altitude: 55.177281 # Commanded vehicle depth:959.308213 # Seafloor depth:-1014.485494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.098514 meters # Minimum depth: 1011.225233 meters looking forward 100.000000 meters along route # Maximum depth: 1014.286629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.225233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.801302; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 961.225233; finalDepth = 959.308213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.177281 # Actual altitude: 55.177281 # Commanded vehicle depth:961.225233 # Seafloor depth:-1013.202715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.215957 meters # Minimum depth: 1011.897940 meters looking forward 100.000000 meters along route # Maximum depth: 1017.275932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.897940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741227; longitude = -121.800577; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 961.897940; finalDepth = 961.225233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.977482 # Actual altitude: 51.977482 # Commanded vehicle depth:961.89794 # Seafloor depth:-1013.303882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.156759 meters # Minimum depth: 1013.855803 meters looking forward 100.000000 meters along route # Maximum depth: 1016.972185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.855803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.799961; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.855803; finalDepth = 961.897940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1163819999999 # Actual altitude: 53.1163819999999 # Commanded vehicle depth:963.855803 # Seafloor depth:-1016.972185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.156441 meters # Minimum depth: 1012.266480 meters looking forward 100.000000 meters along route # Maximum depth: 1016.527684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.266480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.799291; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.266480; finalDepth = 963.855803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1163819999999 # Actual altitude: 53.1163819999999 # Commanded vehicle depth:962.26648 # Seafloor depth:-1012.266480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.156123 meters # Minimum depth: 1013.757281 meters looking forward 100.000000 meters along route # Maximum depth: 1018.636967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.757281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.798621; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.757281; finalDepth = 962.266480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.757281 # Seafloor depth:-1013.757281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 113.435431 meters # Minimum depth: 1015.448655 meters looking forward 100.000000 meters along route # Maximum depth: 1019.500159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.448655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.797950; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 965.448655; finalDepth = 963.757281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.102758 # Actual altitude: 52.102758 # Commanded vehicle depth:965.448655 # Seafloor depth:-1017.551413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.875863 meters # Minimum depth: 1008.996094 meters looking forward 100.000000 meters along route # Maximum depth: 1016.369282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.996094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745331; longitude = -121.797260; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 958.996094; finalDepth = 965.448655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.373188 # Actual altitude: 57.373188 # Commanded vehicle depth:958.996094 # Seafloor depth:-1016.369282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 120.255470 meters # Minimum depth: 1008.452778 meters looking forward 100.000000 meters along route # Maximum depth: 1012.519975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.452778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.796610; captureRadius = 10; duration = 120; abortOnTimeout = True; initialDepth = 958.452778; finalDepth = 958.996094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.373188 # Actual altitude: 57.373188 # Commanded vehicle depth:958.452778 # Seafloor depth:-1009.541634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.054553 meters # Minimum depth: 1009.048621 meters looking forward 100.000000 meters along route # Maximum depth: 1011.890831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.048621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747040; longitude = -121.795878; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 959.048621; finalDepth = 958.452778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0888560000001 # Actual altitude: 51.0888560000001 # Commanded vehicle depth:959.048621 # Seafloor depth:-1009.519440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.154535 meters # Minimum depth: 1009.371951 meters looking forward 100.000000 meters along route # Maximum depth: 1014.520125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.371951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.795269; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.371951; finalDepth = 959.048621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5995750000001 # Actual altitude: 51.5995750000001 # Commanded vehicle depth:959.371951 # Seafloor depth:-1010.971526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.154218 meters # Minimum depth: 1011.326016 meters looking forward 100.000000 meters along route # Maximum depth: 1015.947902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.326016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.794599; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.326016; finalDepth = 959.371951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.113831 # Actual altitude: 54.113831 # Commanded vehicle depth:961.326016 # Seafloor depth:-1015.439847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.153899 meters # Minimum depth: 1010.431976 meters looking forward 100.000000 meters along route # Maximum depth: 1015.971096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.431976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.793929; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.431976; finalDepth = 961.326016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.53912 # Actual altitude: 55.53912 # Commanded vehicle depth:960.431976 # Seafloor depth:-1015.971096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 114.592485 meters # Minimum depth: 1008.634850 meters looking forward 100.000000 meters along route # Maximum depth: 1010.361083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.634850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.793259; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 958.634850; finalDepth = 960.431976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.53912 # Actual altitude: 55.53912 # Commanded vehicle depth:958.63485 # Seafloor depth:-1008.634850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.714362 meters # Minimum depth: 1009.510023 meters looking forward 100.000000 meters along route # Maximum depth: 1016.618000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.510023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751144; longitude = -121.792561; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 959.510023; finalDepth = 958.634850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.510023 # Seafloor depth:-1009.510023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.152946 meters # Minimum depth: 1011.647695 meters looking forward 100.000000 meters along route # Maximum depth: 1016.638857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.647695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.791918; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.647695; finalDepth = 959.510023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.008645 # Actual altitude: 52.008645 # Commanded vehicle depth:961.647695 # Seafloor depth:-1013.656340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.152629 meters # Minimum depth: 1009.282353 meters looking forward 100.000000 meters along route # Maximum depth: 1014.334833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.282353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.791248; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.282353; finalDepth = 961.647695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.332221 # Actual altitude: 54.332221 # Commanded vehicle depth:959.282353 # Seafloor depth:-1013.614574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.152311 meters # Minimum depth: 1008.720239 meters looking forward 100.000000 meters along route # Maximum depth: 1010.381730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.720239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.790578; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 958.720239; finalDepth = 959.282353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.332221 # Actual altitude: 54.332221 # Commanded vehicle depth:958.720239 # Seafloor depth:-1009.899461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.151994 meters # Minimum depth: 1007.489435 meters looking forward 100.000000 meters along route # Maximum depth: 1008.701955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.489435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.789907; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.489435; finalDepth = 958.720239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179222 # Actual altitude: 51.179222 # Commanded vehicle depth:957.489435 # Seafloor depth:-1008.443752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.151676 meters # Minimum depth: 1007.409715 meters looking forward 100.000000 meters along route # Maximum depth: 1009.542828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.409715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.789237; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.409715; finalDepth = 957.489435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.276169 # Actual altitude: 51.276169 # Commanded vehicle depth:957.409715 # Seafloor depth:-1008.685884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.749492 meters # Minimum depth: 1009.057983 meters looking forward 100.000000 meters along route # Maximum depth: 1012.871556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.057983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.788567; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 959.057983; finalDepth = 957.409715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.276169 # Actual altitude: 51.276169 # Commanded vehicle depth:959.057983 # Seafloor depth:-1009.585778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.552907 meters # Minimum depth: 1010.431052 meters looking forward 100.000000 meters along route # Maximum depth: 1013.109930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.431052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756957; longitude = -121.787862; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 960.431052; finalDepth = 959.057983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6788779999999 # Actual altitude: 52.6788779999999 # Commanded vehicle depth:960.431052 # Seafloor depth:-1013.109930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.150724 meters # Minimum depth: 1010.271269 meters looking forward 100.000000 meters along route # Maximum depth: 1011.543980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.271269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.787226; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.271269; finalDepth = 960.431052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6788779999999 # Actual altitude: 52.6788779999999 # Commanded vehicle depth:960.271269 # Seafloor depth:-1011.543980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.605372 meters # Minimum depth: 1009.776432 meters looking forward 100.000000 meters along route # Maximum depth: 1013.096318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.776432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.786556; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.776432; finalDepth = 960.271269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2727110000001 # Actual altitude: 51.2727110000001 # Commanded vehicle depth:959.776432 # Seafloor depth:-1009.999864 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 25.094856 meters # Minimum depth: 1010.453566 meters looking forward 100.000000 meters along route # Maximum depth: 1013.096318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.453566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759406; longitude = -121.785883; captureRadius = 10; duration = 25; abortOnTimeout = True; initialDepth = 960.453566; finalDepth = 959.776432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4886339999999 # Actual altitude: 51.4886339999999 # Commanded vehicle depth:960.453566 # Seafloor depth:-1011.942200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 124.879003 meters # Minimum depth: 1008.315837 meters looking forward 100.000000 meters along route # Maximum depth: 1011.840396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.315837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759282; longitude = -121.785651; captureRadius = 10; duration = 124; abortOnTimeout = True; initialDepth = 958.315837; finalDepth = 960.453566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5245590000001 # Actual altitude: 53.5245590000001 # Commanded vehicle depth:958.315837 # Seafloor depth:-1011.840396 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 85.208089 meters # Minimum depth: 1007.681661 meters looking forward 100.000000 meters along route # Maximum depth: 1008.477983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.681661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758662; longitude = -121.784498; captureRadius = 10; duration = 85; abortOnTimeout = True; initialDepth = 957.681661; finalDepth = 958.315837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5245590000001 # Actual altitude: 53.5245590000001 # Commanded vehicle depth:957.681661 # Seafloor depth:-1008.285370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.150988 meters # Minimum depth: 1007.212021 meters looking forward 100.000000 meters along route # Maximum depth: 1008.676939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.212021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.785016; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.212021; finalDepth = 957.681661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.603709 # Actual altitude: 50.603709 # Commanded vehicle depth:957.212021 # Seafloor depth:-1007.244043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.151306 meters # Minimum depth: 1007.665133 meters looking forward 100.000000 meters along route # Maximum depth: 1008.735082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.665133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.785687; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.665133; finalDepth = 957.212021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.032022 # Actual altitude: 50.032022 # Commanded vehicle depth:957.665133 # Seafloor depth:-1007.665133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.139014 meters # Minimum depth: 1006.626493 meters looking forward 100.000000 meters along route # Maximum depth: 1009.955039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.626493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.786357; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 956.626493; finalDepth = 957.665133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0612550000001 # Actual altitude: 51.0612550000001 # Commanded vehicle depth:956.626493 # Seafloor depth:-1007.687748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.164551 meters # Minimum depth: 1007.565811 meters looking forward 100.000000 meters along route # Maximum depth: 1009.939492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.565811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755525; longitude = -121.787033; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 957.565811; finalDepth = 956.626493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3736809999999 # Actual altitude: 52.3736809999999 # Commanded vehicle depth:957.565811 # Seafloor depth:-1009.939492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.960189 meters # Minimum depth: 1007.276651 meters looking forward 100.000000 meters along route # Maximum depth: 1008.389919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.276651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.787698; captureRadius = 10; duration = 117; abortOnTimeout = True; initialDepth = 957.276651; finalDepth = 957.565811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3736809999999 # Actual altitude: 52.3736809999999 # Commanded vehicle depth:957.276651 # Seafloor depth:-1008.053989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.344646 meters # Minimum depth: 1007.425221 meters looking forward 100.000000 meters along route # Maximum depth: 1008.990144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.425221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753816; longitude = -121.788415; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 957.425221; finalDepth = 957.276651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.777338 # Actual altitude: 50.777338 # Commanded vehicle depth:957.425221 # Seafloor depth:-1007.997002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.152894 meters # Minimum depth: 1007.547747 meters looking forward 100.000000 meters along route # Maximum depth: 1010.952342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.547747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.789038; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.547747; finalDepth = 957.425221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.584568 # Actual altitude: 51.584568 # Commanded vehicle depth:957.547747 # Seafloor depth:-1009.132315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.153212 meters # Minimum depth: 1008.695042 meters looking forward 100.000000 meters along route # Maximum depth: 1012.780914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.695042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.789708; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 958.695042; finalDepth = 957.547747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.584568 # Actual altitude: 51.584568 # Commanded vehicle depth:958.695042 # Seafloor depth:-1010.193331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.153530 meters # Minimum depth: 1010.716806 meters looking forward 100.000000 meters along route # Maximum depth: 1013.885463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.716806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.790379; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.716806; finalDepth = 958.695042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.498289 # Actual altitude: 51.498289 # Commanded vehicle depth:960.716806 # Seafloor depth:-1011.304745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.300606 meters # Minimum depth: 1009.463116 meters looking forward 100.000000 meters along route # Maximum depth: 1015.499089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.463116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.791049; captureRadius = 10; duration = 112; abortOnTimeout = True; initialDepth = 959.463116; finalDepth = 960.716806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.99865 # Actual altitude: 54.99865 # Commanded vehicle depth:959.463116 # Seafloor depth:-1014.461766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.007405 meters # Minimum depth: 1007.603977 meters looking forward 100.000000 meters along route # Maximum depth: 1009.254398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.603977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749712; longitude = -121.791732; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 957.603977; finalDepth = 959.463116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.99865 # Actual altitude: 54.99865 # Commanded vehicle depth:957.603977 # Seafloor depth:-1009.254398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.121928 meters # Minimum depth: 1008.945469 meters looking forward 100.000000 meters along route # Maximum depth: 1010.752779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.945469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.792389; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 958.945469; finalDepth = 957.603977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6504210000001 # Actual altitude: 51.6504210000001 # Commanded vehicle depth:958.945469 # Seafloor depth:-1009.030016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.187354 meters # Minimum depth: 1010.556208 meters looking forward 100.000000 meters along route # Maximum depth: 1012.187257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.556208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748003; longitude = -121.793114; captureRadius = 10; duration = 101; abortOnTimeout = True; initialDepth = 960.556208; finalDepth = 958.945469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.084547 # Actual altitude: 50.084547 # Commanded vehicle depth:960.556208 # Seafloor depth:-1010.556208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.155118 meters # Minimum depth: 1008.185094 meters looking forward 100.000000 meters along route # Maximum depth: 1013.378691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.185094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.793730; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 958.185094; finalDepth = 960.556208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.821334 # Actual altitude: 51.821334 # Commanded vehicle depth:958.185094 # Seafloor depth:-1010.006428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.155435 meters # Minimum depth: 1007.930728 meters looking forward 100.000000 meters along route # Maximum depth: 1011.992193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.930728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.794400; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.930728; finalDepth = 958.185094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.788511 # Actual altitude: 53.788511 # Commanded vehicle depth:957.930728 # Seafloor depth:-1011.719239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.155753 meters # Minimum depth: 1009.047007 meters looking forward 100.000000 meters along route # Maximum depth: 1012.935040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.047007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.795070; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.047007; finalDepth = 957.930728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.788511 # Actual altitude: 53.788511 # Commanded vehicle depth:959.047007 # Seafloor depth:-1010.116849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 113.462248 meters # Minimum depth: 1012.021353 meters looking forward 100.000000 meters along route # Maximum depth: 1015.142892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.021353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.795741; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 962.021353; finalDepth = 959.047007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.069842 # Actual altitude: 51.069842 # Commanded vehicle depth:962.021353 # Seafloor depth:-1012.341035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.850211 meters # Minimum depth: 1014.492853 meters looking forward 100.000000 meters along route # Maximum depth: 1015.885046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.492853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743899; longitude = -121.796431; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 964.492853; finalDepth = 962.021353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.740892 # Actual altitude: 50.740892 # Commanded vehicle depth:964.492853 # Seafloor depth:-1015.233745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.283713 meters # Minimum depth: 1011.278987 meters looking forward 100.000000 meters along route # Maximum depth: 1013.245805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.278987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.797081; captureRadius = 10; duration = 120; abortOnTimeout = True; initialDepth = 961.278987; finalDepth = 964.492853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.928135 # Actual altitude: 51.928135 # Commanded vehicle depth:961.278987 # Seafloor depth:-1013.207122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.030017 meters # Minimum depth: 1009.507689 meters looking forward 100.000000 meters along route # Maximum depth: 1012.818956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.507689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742189; longitude = -121.797813; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 959.507689; finalDepth = 961.278987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3112669999999 # Actual altitude: 53.3112669999999 # Commanded vehicle depth:959.507689 # Seafloor depth:-1012.818956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.157341 meters # Minimum depth: 1011.535387 meters looking forward 100.000000 meters along route # Maximum depth: 1013.307217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.535387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.798422; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.535387; finalDepth = 959.507689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3112669999999 # Actual altitude: 53.3112669999999 # Commanded vehicle depth:961.535387 # Seafloor depth:-1012.217122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.157659 meters # Minimum depth: 1010.382962 meters looking forward 100.000000 meters along route # Maximum depth: 1014.510983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.382962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.799092; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.382962; finalDepth = 961.535387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128021 # Actual altitude: 54.128021 # Commanded vehicle depth:960.382962 # Seafloor depth:-1014.510983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.157977 meters # Minimum depth: 1011.163642 meters looking forward 100.000000 meters along route # Maximum depth: 1013.208561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.163642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.799762; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 961.163642; finalDepth = 960.382962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128021 # Actual altitude: 54.128021 # Commanded vehicle depth:961.163642 # Seafloor depth:-1013.208561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.623935 meters # Minimum depth: 1010.299430 meters looking forward 100.000000 meters along route # Maximum depth: 1015.898877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.299430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.800432; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 960.299430; finalDepth = 961.163642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.222681 # Actual altitude: 52.222681 # Commanded vehicle depth:960.29943 # Seafloor depth:-1012.522111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.692972 meters # Minimum depth: 1009.907211 meters looking forward 100.000000 meters along route # Maximum depth: 1014.114509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.907211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738086; longitude = -121.801130; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 959.907211; finalDepth = 960.299430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.207298 # Actual altitude: 54.207298 # Commanded vehicle depth:959.907211 # Seafloor depth:-1014.114509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.158930 meters # Minimum depth: 1010.123636 meters looking forward 100.000000 meters along route # Maximum depth: 1012.407190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.123636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.801773; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.123636; finalDepth = 959.907211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.207298 # Actual altitude: 54.207298 # Commanded vehicle depth:960.123636 # Seafloor depth:-1011.091481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.159248 meters # Minimum depth: 1014.666213 meters looking forward 100.000000 meters along route # Maximum depth: 1026.045228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.666213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.802443; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.666213; finalDepth = 960.123636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.967845 # Actual altitude: 50.967845 # Commanded vehicle depth:964.666213 # Seafloor depth:-1014.666213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.159565 meters # Minimum depth: 1021.047632 meters looking forward 100.000000 meters along route # Maximum depth: 1024.978044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.047632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.803113; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 971.047632; finalDepth = 964.666213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9304119999999 # Actual altitude: 53.9304119999999 # Commanded vehicle depth:971.047632 # Seafloor depth:-1024.978044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.159883 meters # Minimum depth: 1013.326406 meters looking forward 100.000000 meters along route # Maximum depth: 1022.311322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.326406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.803784; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.326406; finalDepth = 971.047632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.984916 # Actual altitude: 58.984916 # Commanded vehicle depth:963.326406 # Seafloor depth:-1022.311322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.160201 meters # Minimum depth: 1013.329449 meters looking forward 100.000000 meters along route # Maximum depth: 1015.391612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.329449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.804454; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.329449; finalDepth = 963.326406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.984916 # Actual altitude: 58.984916 # Commanded vehicle depth:963.329449 # Seafloor depth:-1013.329449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.785669 meters # Minimum depth: 1014.520687 meters looking forward 100.000000 meters along route # Maximum depth: 1015.637942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.520687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.805124; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 964.520687; finalDepth = 963.329449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.422043 # Actual altitude: 50.422043 # Commanded vehicle depth:964.520687 # Seafloor depth:-1014.942730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.535686 meters # Minimum depth: 1014.431865 meters looking forward 100.000000 meters along route # Maximum depth: 1015.562330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.431865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732273; longitude = -121.805829; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 964.431865; finalDepth = 964.520687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.130465 # Actual altitude: 51.130465 # Commanded vehicle depth:964.431865 # Seafloor depth:-1015.562330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.161154 meters # Minimum depth: 1014.869416 meters looking forward 100.000000 meters along route # Maximum depth: 1016.908248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.869416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.806465; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 964.869416; finalDepth = 964.431865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.130465 # Actual altitude: 51.130465 # Commanded vehicle depth:964.869416 # Seafloor depth:-1015.069070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.608498 meters # Minimum depth: 1015.703509 meters looking forward 100.000000 meters along route # Maximum depth: 1016.995784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.703509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.807135; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 965.703509; finalDepth = 964.869416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.199654 # Actual altitude: 50.199654 # Commanded vehicle depth:965.703509 # Seafloor depth:-1015.839844 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 34.751401 meters # Minimum depth: 1015.703509 meters looking forward 100.000000 meters along route # Maximum depth: 1016.312089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.703509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729824; longitude = -121.807808; captureRadius = 10; duration = 34; abortOnTimeout = True; initialDepth = 965.703509; finalDepth = 965.703509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.605832 # Actual altitude: 50.605832 # Commanded vehicle depth:965.703509 # Seafloor depth:-1016.309341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.260145 meters # Minimum depth: 1015.329751 meters looking forward 100.000000 meters along route # Maximum depth: 1016.418409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.329751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729652; longitude = -121.807487; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 965.329751; finalDepth = 965.703509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.605832 # Actual altitude: 50.605832 # Commanded vehicle depth:965.329751 # Seafloor depth:-1015.329751 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 62.567817 meters # Minimum depth: 1016.127468 meters looking forward 100.000000 meters along route # Maximum depth: 1017.429672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.127468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729080; longitude = -121.806423; captureRadius = 10; duration = 62; abortOnTimeout = True; initialDepth = 966.127468; finalDepth = 965.329751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4721109999999 # Actual altitude: 50.4721109999999 # Commanded vehicle depth:966.127468 # Seafloor depth:-1016.599579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.161630 meters # Minimum depth: 1013.599784 meters looking forward 100.000000 meters along route # Maximum depth: 1017.450139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.599784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.806042; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.599784; finalDepth = 966.127468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.850355 # Actual altitude: 53.850355 # Commanded vehicle depth:963.599784 # Seafloor depth:-1017.450139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.161313 meters # Minimum depth: 1013.561894 meters looking forward 100.000000 meters along route # Maximum depth: 1015.880473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.561894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.805372; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.561894; finalDepth = 963.599784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.850355 # Actual altitude: 53.850355 # Commanded vehicle depth:963.561894 # Seafloor depth:-1013.561894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.160995 meters # Minimum depth: 1012.990761 meters looking forward 100.000000 meters along route # Maximum depth: 1015.782114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.990761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.804702; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.990761; finalDepth = 963.561894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.791353 # Actual altitude: 52.791353 # Commanded vehicle depth:962.990761 # Seafloor depth:-1015.782114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.478737 meters # Minimum depth: 1011.163728 meters looking forward 100.000000 meters along route # Maximum depth: 1014.234192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.163728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.804032; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 961.163728; finalDepth = 962.990761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.070464 # Actual altitude: 53.070464 # Commanded vehicle depth:961.163728 # Seafloor depth:-1014.234192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.842300 meters # Minimum depth: 1011.321247 meters looking forward 100.000000 meters along route # Maximum depth: 1013.553171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.321247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732893; longitude = -121.803341; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 961.321247; finalDepth = 961.163728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.070464 # Actual altitude: 53.070464 # Commanded vehicle depth:961.321247 # Seafloor depth:-1011.321247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.299078 meters # Minimum depth: 1014.535483 meters looking forward 100.000000 meters along route # Maximum depth: 1025.027089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.535483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.802691; captureRadius = 10; duration = 120; abortOnTimeout = True; initialDepth = 964.535483; finalDepth = 961.321247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:964.535483 # Seafloor depth:-1014.535483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.020688 meters # Minimum depth: 1015.492507 meters looking forward 100.000000 meters along route # Maximum depth: 1024.329590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.492507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734603; longitude = -121.801959; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 965.492507; finalDepth = 964.535483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.837083 # Actual altitude: 58.837083 # Commanded vehicle depth:965.492507 # Seafloor depth:-1024.329590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.159406 meters # Minimum depth: 1010.995887 meters looking forward 100.000000 meters along route # Maximum depth: 1014.930181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.995887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.801351; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 960.995887; finalDepth = 965.492507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.837083 # Actual altitude: 58.837083 # Commanded vehicle depth:960.995887 # Seafloor depth:-1014.930181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.159089 meters # Minimum depth: 1006.942488 meters looking forward 100.000000 meters along route # Maximum depth: 1009.999368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.942488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.800680; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.942488; finalDepth = 960.995887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9342939999999 # Actual altitude: 53.9342939999999 # Commanded vehicle depth:956.942488 # Seafloor depth:-1009.999368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.158771 meters # Minimum depth: 1006.346492 meters looking forward 100.000000 meters along route # Maximum depth: 1007.778920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.346492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.800010; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.346492; finalDepth = 956.942488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.05688 # Actual altitude: 53.05688 # Commanded vehicle depth:956.346492 # Seafloor depth:-1007.085547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.635841 meters # Minimum depth: 1008.200285 meters looking forward 100.000000 meters along route # Maximum depth: 1009.781194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.200285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.799340; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 958.200285; finalDepth = 956.346492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.739055 # Actual altitude: 50.739055 # Commanded vehicle depth:958.200285 # Seafloor depth:-1008.901757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.680748 meters # Minimum depth: 1007.826755 meters looking forward 100.000000 meters along route # Maximum depth: 1010.165248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.826755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738706; longitude = -121.798642; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 957.826755; finalDepth = 958.200285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.075396 # Actual altitude: 51.075396 # Commanded vehicle depth:957.826755 # Seafloor depth:-1008.902151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.157818 meters # Minimum depth: 1005.381390 meters looking forward 100.000000 meters along route # Maximum depth: 1010.652551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.381390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.797999; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.381390; finalDepth = 957.826755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.808534 # Actual altitude: 54.808534 # Commanded vehicle depth:955.38139 # Seafloor depth:-1010.189924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.157500 meters # Minimum depth: 1006.158257 meters looking forward 100.000000 meters along route # Maximum depth: 1010.414793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.158257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.797329; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.158257; finalDepth = 955.381390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.808534 # Actual altitude: 54.808534 # Commanded vehicle depth:956.158257 # Seafloor depth:-1007.235875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.157183 meters # Minimum depth: 1006.484856 meters looking forward 100.000000 meters along route # Maximum depth: 1009.744338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.484856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.796659; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.484856; finalDepth = 956.158257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0776179999999 # Actual altitude: 51.0776179999999 # Commanded vehicle depth:956.484856 # Seafloor depth:-1007.115688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.156865 meters # Minimum depth: 1006.539676 meters looking forward 100.000000 meters along route # Maximum depth: 1012.939891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.539676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.795988; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.539676; finalDepth = 956.484856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9547230000001 # Actual altitude: 51.9547230000001 # Commanded vehicle depth:956.539676 # Seafloor depth:-1008.494399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.156547 meters # Minimum depth: 1008.251481 meters looking forward 100.000000 meters along route # Maximum depth: 1014.422556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.251481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.795318; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 958.251481; finalDepth = 956.539676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8476879999999 # Actual altitude: 54.8476879999999 # Commanded vehicle depth:958.251481 # Seafloor depth:-1013.099169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.792899 meters # Minimum depth: 1006.110642 meters looking forward 100.000000 meters along route # Maximum depth: 1009.358733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.110642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.794648; captureRadius = 10; duration = 115; abortOnTimeout = True; initialDepth = 956.110642; finalDepth = 958.251481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8476879999999 # Actual altitude: 54.8476879999999 # Commanded vehicle depth:956.110642 # Seafloor depth:-1008.924575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.519243 meters # Minimum depth: 1006.272715 meters looking forward 100.000000 meters along route # Maximum depth: 1008.906556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.272715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744519; longitude = -121.793943; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 956.272715; finalDepth = 956.110642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813933 # Actual altitude: 52.813933 # Commanded vehicle depth:956.272715 # Seafloor depth:-1008.906556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.155594 meters # Minimum depth: 1005.656923 meters looking forward 100.000000 meters along route # Maximum depth: 1010.572682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.656923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.793307; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.656923; finalDepth = 956.272715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.915759 # Actual altitude: 54.915759 # Commanded vehicle depth:955.656923 # Seafloor depth:-1010.572682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.155277 meters # Minimum depth: 1007.243391 meters looking forward 100.000000 meters along route # Maximum depth: 1009.488394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.243391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.792637; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.243391; finalDepth = 955.656923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.915759 # Actual altitude: 54.915759 # Commanded vehicle depth:957.243391 # Seafloor depth:-1007.243391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.154959 meters # Minimum depth: 1005.877180 meters looking forward 100.000000 meters along route # Maximum depth: 1008.077984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.877180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.791967; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.877180; finalDepth = 957.243391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.183086 # Actual altitude: 51.183086 # Commanded vehicle depth:955.87718 # Seafloor depth:-1007.060266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.154641 meters # Minimum depth: 1005.058254 meters looking forward 100.000000 meters along route # Maximum depth: 1007.668726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.058254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.791297; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.058254; finalDepth = 955.877180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.610472 # Actual altitude: 52.610472 # Commanded vehicle depth:955.058254 # Seafloor depth:-1007.668726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.154324 meters # Minimum depth: 1005.060817 meters looking forward 100.000000 meters along route # Maximum depth: 1009.405139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.060817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.790626; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.060817; finalDepth = 955.058254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.610472 # Actual altitude: 52.610472 # Commanded vehicle depth:955.060817 # Seafloor depth:-1005.060817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.949910 meters # Minimum depth: 1003.091355 meters looking forward 100.000000 meters along route # Maximum depth: 1013.254068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.091355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.789956; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 953.091355; finalDepth = 955.060817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1627129999999 # Actual altitude: 60.1627129999999 # Commanded vehicle depth:953.091355 # Seafloor depth:-1013.254068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.357785 meters # Minimum depth: 1006.387782 meters looking forward 100.000000 meters along route # Maximum depth: 1010.624633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.387782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750332; longitude = -121.789244; captureRadius = 10; duration = 103; abortOnTimeout = True; initialDepth = 956.387782; finalDepth = 953.091355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1627129999999 # Actual altitude: 60.1627129999999 # Commanded vehicle depth:956.387782 # Seafloor depth:-1010.624633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.153371 meters # Minimum depth: 1004.984334 meters looking forward 100.000000 meters along route # Maximum depth: 1006.865565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.984334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.788616; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 954.984334; finalDepth = 956.387782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.236851 # Actual altitude: 54.236851 # Commanded vehicle depth:954.984334 # Seafloor depth:-1005.707707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.153054 meters # Minimum depth: 1006.400285 meters looking forward 100.000000 meters along route # Maximum depth: 1008.268268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.400285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.787945; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.400285; finalDepth = 954.984334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.271002 # Actual altitude: 51.271002 # Commanded vehicle depth:956.400285 # Seafloor depth:-1007.671287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.152735 meters # Minimum depth: 1006.576846 meters looking forward 100.000000 meters along route # Maximum depth: 1008.122951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.576846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.787275; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.576846; finalDepth = 956.400285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.271002 # Actual altitude: 51.271002 # Commanded vehicle depth:956.576846 # Seafloor depth:-1007.452878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.287032 meters # Minimum depth: 1006.730339 meters looking forward 100.000000 meters along route # Maximum depth: 1009.121883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.730339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.786605; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 956.730339; finalDepth = 956.576846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0577490000001 # Actual altitude: 51.0577490000001 # Commanded vehicle depth:956.730339 # Seafloor depth:-1007.788088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.017487 meters # Minimum depth: 1006.697446 meters looking forward 100.000000 meters along route # Maximum depth: 1007.646397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.697446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754436; longitude = -121.785928; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 956.697446; finalDepth = 956.730339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0577490000001 # Actual altitude: 51.0577490000001 # Commanded vehicle depth:956.697446 # Seafloor depth:-1006.697446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.106874 meters # Minimum depth: 1007.371632 meters looking forward 100.000000 meters along route # Maximum depth: 1010.439997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.371632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.785264; captureRadius = 10; duration = 118; abortOnTimeout = True; initialDepth = 957.371632; finalDepth = 956.697446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.371632 # Seafloor depth:-1007.371632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.196375 meters # Minimum depth: 1007.480005 meters looking forward 100.000000 meters along route # Maximum depth: 1007.840137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.480005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756146; longitude = -121.784546; captureRadius = 10; duration = 102; abortOnTimeout = True; initialDepth = 957.480005; finalDepth = 957.371632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.480005 # Seafloor depth:-1007.480005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 133.244800 meters # Minimum depth: 1005.823834 meters looking forward 100.000000 meters along route # Maximum depth: 1007.788248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.823834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.783924; captureRadius = 10; duration = 133; abortOnTimeout = True; initialDepth = 955.823834; finalDepth = 957.480005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9644139999999 # Actual altitude: 51.9644139999999 # Commanded vehicle depth:955.823834 # Seafloor depth:-1007.788248 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 35.044274 meters # Minimum depth: 1005.823834 meters looking forward 100.000000 meters along route # Maximum depth: 1006.844117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.823834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757918; longitude = -121.783113; captureRadius = 10; duration = 35; abortOnTimeout = True; initialDepth = 955.823834; finalDepth = 955.823834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9644139999999 # Actual altitude: 51.9644139999999 # Commanded vehicle depth:955.823834 # Seafloor depth:-1006.024643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.931623 meters # Minimum depth: 1003.638338 meters looking forward 100.000000 meters along route # Maximum depth: 1005.973659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.638338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.782789; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 953.638338; finalDepth = 955.823834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5175830000001 # Actual altitude: 51.5175830000001 # Commanded vehicle depth:953.638338 # Seafloor depth:-1005.155921 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 71.130243 meters # Minimum depth: 1003.638338 meters looking forward 100.000000 meters along route # Maximum depth: 1005.245548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.638338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757174; longitude = -121.781728; captureRadius = 10; duration = 71; abortOnTimeout = True; initialDepth = 953.638338; finalDepth = 953.638338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5175830000001 # Actual altitude: 51.5175830000001 # Commanded vehicle depth:953.638338 # Seafloor depth:-1004.393097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.376682 meters # Minimum depth: 1005.417884 meters looking forward 100.000000 meters along route # Maximum depth: 1008.166059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.417884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.782161; captureRadius = 10; duration = 119; abortOnTimeout = True; initialDepth = 955.417884; finalDepth = 953.638338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.754759 # Actual altitude: 50.754759 # Commanded vehicle depth:955.417884 # Seafloor depth:-1005.417884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.926885 meters # Minimum depth: 1007.504676 meters looking forward 100.000000 meters along route # Maximum depth: 1011.196144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.504676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755740; longitude = -121.782887; captureRadius = 10; duration = 100; abortOnTimeout = True; initialDepth = 957.504676; finalDepth = 955.417884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.56048 # Actual altitude: 50.56048 # Commanded vehicle depth:957.504676 # Seafloor depth:-1008.065156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.152260 meters # Minimum depth: 1006.915996 meters looking forward 100.000000 meters along route # Maximum depth: 1011.448989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.915996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.783501; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.915996; finalDepth = 957.504676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.532993 # Actual altitude: 54.532993 # Commanded vehicle depth:956.915996 # Seafloor depth:-1011.448989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.152578 meters # Minimum depth: 1006.380993 meters looking forward 100.000000 meters along route # Maximum depth: 1008.974602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.380993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.784172; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.380993; finalDepth = 956.915996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.532993 # Actual altitude: 54.532993 # Commanded vehicle depth:956.380993 # Seafloor depth:-1008.974602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.152895 meters # Minimum depth: 1004.982768 meters looking forward 100.000000 meters along route # Maximum depth: 1008.755688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.982768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.784842; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 954.982768; finalDepth = 956.380993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.593609 # Actual altitude: 52.593609 # Commanded vehicle depth:954.982768 # Seafloor depth:-1006.802876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 113.717152 meters # Minimum depth: 1003.200644 meters looking forward 100.000000 meters along route # Maximum depth: 1004.501099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.200644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.785512; captureRadius = 10; duration = 113; abortOnTimeout = True; initialDepth = 953.200644; finalDepth = 954.982768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.820108 # Actual altitude: 51.820108 # Commanded vehicle depth:953.200644 # Seafloor depth:-1004.501099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.589591 meters # Minimum depth: 1003.174346 meters looking forward 100.000000 meters along route # Maximum depth: 1005.656138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.174346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751636; longitude = -121.786204; captureRadius = 10; duration = 106; abortOnTimeout = True; initialDepth = 953.174346; finalDepth = 953.200644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3004549999999 # Actual altitude: 51.3004549999999 # Commanded vehicle depth:953.174346 # Seafloor depth:-1003.174346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.153848 meters # Minimum depth: 1000.568965 meters looking forward 100.000000 meters along route # Maximum depth: 1005.570569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.568965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.786853; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 950.568965; finalDepth = 953.174346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.943643 # Actual altitude: 53.943643 # Commanded vehicle depth:950.568965 # Seafloor depth:-1004.512608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.154165 meters # Minimum depth: 1005.266168 meters looking forward 100.000000 meters along route # Maximum depth: 1008.653318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.266168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.787523; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.266168; finalDepth = 950.568965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.943643 # Actual altitude: 53.943643 # Commanded vehicle depth:955.266168 # Seafloor depth:-1007.100247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.154484 meters # Minimum depth: 1005.182905 meters looking forward 100.000000 meters along route # Maximum depth: 1011.382320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.182905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.788193; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.182905; finalDepth = 955.266168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.834079 # Actual altitude: 51.834079 # Commanded vehicle depth:955.182905 # Seafloor depth:-1005.182905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.154800 meters # Minimum depth: 1004.334474 meters looking forward 100.000000 meters along route # Maximum depth: 1010.602743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.334474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.788863; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 954.334474; finalDepth = 955.182905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.268269 # Actual altitude: 56.268269 # Commanded vehicle depth:954.334474 # Seafloor depth:-1010.602743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.155118 meters # Minimum depth: 1003.524974 meters looking forward 100.000000 meters along route # Maximum depth: 1005.917095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.524974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.789534; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 953.524974; finalDepth = 954.334474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.268269 # Actual altitude: 56.268269 # Commanded vehicle depth:953.524974 # Seafloor depth:-1004.307125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 114.878815 meters # Minimum depth: 1003.603512 meters looking forward 100.000000 meters along route # Maximum depth: 1007.224011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.603512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.790204; captureRadius = 10; duration = 114; abortOnTimeout = True; initialDepth = 953.603512; finalDepth = 953.524974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5129989999999 # Actual altitude: 53.5129989999999 # Commanded vehicle depth:953.603512 # Seafloor depth:-1007.116511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.432375 meters # Minimum depth: 1004.882007 meters looking forward 100.000000 meters along route # Maximum depth: 1006.180317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.882007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745823; longitude = -121.790903; captureRadius = 10; duration = 105; abortOnTimeout = True; initialDepth = 954.882007; finalDepth = 953.603512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5129989999999 # Actual altitude: 53.5129989999999 # Commanded vehicle depth:954.882007 # Seafloor depth:-1005.753206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.156071 meters # Minimum depth: 1004.493434 meters looking forward 100.000000 meters along route # Maximum depth: 1007.373565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.493434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.791544; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 954.493434; finalDepth = 954.882007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8711989999999 # Actual altitude: 50.8711989999999 # Commanded vehicle depth:954.493434 # Seafloor depth:-1004.493434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.156389 meters # Minimum depth: 1003.671467 meters looking forward 100.000000 meters along route # Maximum depth: 1008.480265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.671467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.792215; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 953.671467; finalDepth = 954.493434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.229164 # Actual altitude: 51.229164 # Commanded vehicle depth:953.671467 # Seafloor depth:-1004.900631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.156706 meters # Minimum depth: 1006.417148 meters looking forward 100.000000 meters along route # Maximum depth: 1008.886442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.417148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.792885; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.417148; finalDepth = 953.671467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.469294 # Actual altitude: 52.469294 # Commanded vehicle depth:956.417148 # Seafloor depth:-1008.886442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.157024 meters # Minimum depth: 1006.291969 meters looking forward 100.000000 meters along route # Maximum depth: 1010.685378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.291969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.793555; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 956.291969; finalDepth = 956.417148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.469294 # Actual altitude: 52.469294 # Commanded vehicle depth:956.291969 # Seafloor depth:-1007.785841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.157342 meters # Minimum depth: 1003.067552 meters looking forward 100.000000 meters along route # Maximum depth: 1009.615870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.067552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.794225; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 953.067552; finalDepth = 956.291969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.141487 # Actual altitude: 56.141487 # Commanded vehicle depth:953.067552 # Seafloor depth:-1009.209039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.46; MB_Bottom_Detect_Filter_Max_Range = 224.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 116.040523 meters # Minimum depth: 1002.779773 meters looking forward 100.000000 meters along route # Maximum depth: 1004.794187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.779773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.794896; captureRadius = 10; duration = 116; abortOnTimeout = True; initialDepth = 952.779773; finalDepth = 953.067552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.141487 # Actual altitude: 56.141487 # Commanded vehicle depth:952.779773 # Seafloor depth:-1004.023862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.46; MB_Bottom_Detect_Filter_Max_Range = 224.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.275113 meters # Minimum depth: 1003.721601 meters looking forward 100.000000 meters along route # Maximum depth: 1006.142734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.721601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740010; longitude = -121.795602; captureRadius = 10; duration = 104; abortOnTimeout = True; initialDepth = 953.721601; finalDepth = 952.779773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.244089 # Actual altitude: 51.244089 # Commanded vehicle depth:953.721601 # Seafloor depth:-1004.035689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.158295 meters # Minimum depth: 1003.795024 meters looking forward 100.000000 meters along route # Maximum depth: 1011.346070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.795024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.796236; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 953.795024; finalDepth = 953.721601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3140880000001 # Actual altitude: 50.3140880000001 # Commanded vehicle depth:953.795024 # Seafloor depth:-1003.795024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.158612 meters # Minimum depth: 1005.803399 meters looking forward 100.000000 meters along route # Maximum depth: 1008.268148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.803399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.796907; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 955.803399; finalDepth = 953.795024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.464749 # Actual altitude: 52.464749 # Commanded vehicle depth:955.803399 # Seafloor depth:-1008.268148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.158930 meters # Minimum depth: 1007.717486 meters looking forward 100.000000 meters along route # Maximum depth: 1008.482528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.717486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.797577; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 957.717486; finalDepth = 955.803399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.464749 # Actual altitude: 52.464749 # Commanded vehicle depth:957.717486 # Seafloor depth:-1008.482528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.380636 meters # Minimum depth: 1008.296540 meters looking forward 100.000000 meters along route # Maximum depth: 1010.103267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.296540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.798247; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 958.296540; finalDepth = 957.717486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.765042 # Actual altitude: 50.765042 # Commanded vehicle depth:958.29654 # Seafloor depth:-1009.034391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.938177 meters # Minimum depth: 1006.425578 meters looking forward 100.000000 meters along route # Maximum depth: 1008.509740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.425578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735907; longitude = -121.798919; captureRadius = 10; duration = 109; abortOnTimeout = True; initialDepth = 956.425578; finalDepth = 958.296540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.084162 # Actual altitude: 52.084162 # Commanded vehicle depth:956.425578 # Seafloor depth:-1008.509740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 117.202279 meters # Minimum depth: 1008.055894 meters looking forward 100.000000 meters along route # Maximum depth: 1008.970330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.055894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.799588; captureRadius = 10; duration = 117; abortOnTimeout = True; initialDepth = 958.055894; finalDepth = 956.425578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.084162 # Actual altitude: 52.084162 # Commanded vehicle depth:958.055894 # Seafloor depth:-1008.055894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.117804 meters # Minimum depth: 1009.011427 meters looking forward 100.000000 meters along route # Maximum depth: 1010.763750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.011427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734197; longitude = -121.800301; captureRadius = 10; duration = 103; abortOnTimeout = True; initialDepth = 959.011427; finalDepth = 958.055894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.011427 # Seafloor depth:-1009.011427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.160518 meters # Minimum depth: 1012.210206 meters looking forward 100.000000 meters along route # Maximum depth: 1016.297173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.210206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.800928; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 962.210206; finalDepth = 959.011427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.210206 # Seafloor depth:-1012.210206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.160836 meters # Minimum depth: 1013.057447 meters looking forward 100.000000 meters along route # Maximum depth: 1017.086873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.057447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.801598; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 963.057447; finalDepth = 962.210206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0294259999999 # Actual altitude: 54.0294259999999 # Commanded vehicle depth:963.057447 # Seafloor depth:-1017.086873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.161154 meters # Minimum depth: 1009.840408 meters looking forward 100.000000 meters along route # Maximum depth: 1013.070559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.840408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.802269; captureRadius = 10; duration = 110; abortOnTimeout = True; initialDepth = 959.840408; finalDepth = 963.057447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0294259999999 # Actual altitude: 54.0294259999999 # Commanded vehicle depth:959.840408 # Seafloor depth:-1013.070559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.542295 meters # Minimum depth: 1009.857777 meters looking forward 100.000000 meters along route # Maximum depth: 1012.217586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.857777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.802939; captureRadius = 10; duration = 111; abortOnTimeout = True; initialDepth = 959.857777; finalDepth = 959.840408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.230151 # Actual altitude: 53.230151 # Commanded vehicle depth:959.857777 # Seafloor depth:-1010.171179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.780966 meters # Minimum depth: 1010.946840 meters looking forward 100.000000 meters along route # Maximum depth: 1014.169741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.946840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730093; longitude = -121.803617; captureRadius = 10; duration = 108; abortOnTimeout = True; initialDepth = 960.946840; finalDepth = 959.857777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.313402 # Actual altitude: 50.313402 # Commanded vehicle depth:960.94684 # Seafloor depth:-1010.946840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 124.688886 meters # Minimum depth: 1011.333541 meters looking forward 100.000000 meters along route # Maximum depth: 1014.991847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.333541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.804279; captureRadius = 10; duration = 124; abortOnTimeout = True; initialDepth = 961.333541; finalDepth = 960.946840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.267142 # Actual altitude: 53.267142 # Commanded vehicle depth:961.333541 # Seafloor depth:-1014.600683 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 53.267142 # Actual altitude: 53.267142 # Commanded vehicle depth:961.333541 # Seafloor depth:-1013.914810 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 213.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1011.333541 meters looking forward 100.000000 meters along route # Maximum depth: 1014.991847 meters looking forward 100.000000 meters along route # Vehicle depth: 961.333541 meters behavior waypoint { latitude = 35.728336; longitude = -121.805038; captureRadius = 10; duration = 500; depth = 961.333541; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 961.333541 meters set by local depth and desired altitude behavior descend { duration = 2910; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1011.333541 meters looking forward 100.000000 meters along route # Maximum depth: 1014.991847 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.728336; longitude = -121.805038; captureRadius = 10; duration = 1000; depth = 150.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; 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_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 0; Window_Size = 0; } # ####################################################### #######################################################