# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2010_Montebello_2v6.rte # Mission File: 2010_Montebello_2v6.cfg # Distance: 36297.509087 (m) # Estimated Time: 25312 (s) 7.031 (hr) # Abort Time: 32906 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 307 (s) # Way Points: 32 # Route Points: 688 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 70 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 60 (m) # Maximum Vehicle Depth: 307.764871 (m) # Abort Vehicle Depth: 345.264871 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.213605 35.573002 -100.689453 0.000000 3 # 1 -121.251310 35.525135 -346.895927 6315.646764 4 # 2 -121.252890 35.525962 -342.034546 6485.776886 3 # 3 -121.217831 35.570538 -136.342997 12364.613899 4 # 4 -121.214762 35.568630 -121.562607 12714.167353 3 # 5 -121.249693 35.524339 -339.833171 18560.125168 3 # 6 -121.231465 35.524955 -290.740463 20214.682032 3 # 7 -121.218051 35.528486 -256.109604 21492.739665 4 # 8 -121.218768 35.530198 -252.026497 21693.494031 3 # 9 -121.231961 35.526713 -290.237358 22950.885123 4 # 10 -121.232678 35.528426 -289.821838 23151.743861 3 # 11 -121.219485 35.532001 -242.317017 24412.215846 4 # 12 -121.220201 35.533669 -236.207909 24608.327321 3 # 13 -121.233321 35.530198 -276.534592 25858.891879 4 # 14 -121.232825 35.532272 -273.218048 26093.339001 3 # 15 -121.229186 35.523528 -294.652512 27118.008802 4 # 16 -121.227551 35.523964 -289.442528 27273.985209 3 # 17 -121.231189 35.532662 -270.838654 28293.795748 4 # 18 -121.229641 35.533123 -263.915993 28443.202224 3 # 19 -121.226039 35.524394 -284.108482 29465.219422 4 # 20 -121.224994 35.524682 -284.018257 29565.235937 3 # 21 -121.228596 35.533411 -253.271034 30587.253188 4 # 22 -121.227551 35.533699 -254.634647 30687.259573 3 # 23 -121.223950 35.524970 -279.349243 31709.247893 4 # 24 -121.222905 35.525258 -280.862617 31809.263842 3 # 25 -121.226506 35.533987 -255.433460 32831.252215 4 # 26 -121.225461 35.534275 -247.338619 32931.258033 3 # 27 -121.221860 35.525546 -275.538086 33953.246459 4 # 28 -121.220256 35.526007 -263.920494 34107.446906 3 # 29 -121.223895 35.534706 -241.536503 35127.392022 4 # 30 -121.222296 35.535111 -236.525993 35279.195729 3 # 31 -121.218713 35.526412 -260.950089 36297.509087 4 # # A total of 688 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 32906; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 307.764871; abortDepth = 345.264871; minAltitude = 75.000000; abortAltitude = 60.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 307; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 73.069169 meters # Minimum depth: 256.186283 meters looking forward 50.000000 meters along route # Maximum depth: 260.950089 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.186283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526412; longitude = -121.218713; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 181.848121; finalDepth = 181.186283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.763806 # Actual altitude: 79.763806 # Commanded vehicle depth: 181.186283 # Seafloor depth: -260.950089 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.092717 meters # Minimum depth: 256.848121 meters looking forward 50.000000 meters along route # Maximum depth: 260.665241 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.848121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527036; longitude = -121.218970; captureRadius = 10; duration = 100; initialDepth = 180.348077; finalDepth = 181.848121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.763806 # Actual altitude: 79.763806 # Commanded vehicle depth: 181.848121 # Seafloor depth: -259.277606 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.762007 meters # Minimum depth: 255.348077 meters looking forward 50.000000 meters along route # Maximum depth: 261.548995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.348077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527464; longitude = -121.219146; captureRadius = 10; duration = 105; initialDepth = 178.859241; finalDepth = 180.348077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.137864 # Actual altitude: 80.137864 # Commanded vehicle depth: 180.348077 # Seafloor depth: -260.485941 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 53.813226 meters # Minimum depth: 253.859241 meters looking forward 50.000000 meters along route # Maximum depth: 262.138933 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.859241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527915; longitude = -121.219332; captureRadius = 10; duration = 107; initialDepth = 183.430414; finalDepth = 178.859241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.137864 # Actual altitude: 80.137864 # Commanded vehicle depth: 178.859241 # Seafloor depth: -253.859241 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 51.710698 meters # Minimum depth: 258.430414 meters looking forward 50.000000 meters along route # Maximum depth: 261.044353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.430414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528375; longitude = -121.219521; captureRadius = 10; duration = 103; initialDepth = 177.328795; finalDepth = 183.430414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.350252 # Actual altitude: 76.350252 # Commanded vehicle depth: 183.430414 # Seafloor depth: -259.780666 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761916 meters # Minimum depth: 252.328795 meters looking forward 50.000000 meters along route # Maximum depth: 262.671572 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.328795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528816; longitude = -121.219703; captureRadius = 10; duration = 105; initialDepth = 177.918376; finalDepth = 177.328795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.052712 # Actual altitude: 84.052712 # Commanded vehicle depth: 177.328795 # Seafloor depth: -261.381507 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 336.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761886 meters # Minimum depth: 252.918376 meters looking forward 50.000000 meters along route # Maximum depth: 257.312251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.918376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529267; longitude = -121.219889; captureRadius = 10; duration = 105; initialDepth = 176.489231; finalDepth = 177.918376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.052712 # Actual altitude: 84.052712 # Commanded vehicle depth: 177.918376 # Seafloor depth: -257.312251 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 336.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761856 meters # Minimum depth: 251.489231 meters looking forward 50.000000 meters along route # Maximum depth: 256.779307 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.489231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529718; longitude = -121.220075; captureRadius = 10; duration = 105; initialDepth = 176.252889; finalDepth = 176.489231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.393875 # Actual altitude: 79.393875 # Commanded vehicle depth: 176.489231 # Seafloor depth: -252.856597 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761826 meters # Minimum depth: 251.252889 meters looking forward 50.000000 meters along route # Maximum depth: 258.776319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.252889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530168; longitude = -121.220260; captureRadius = 10; duration = 105; initialDepth = 172.993319; finalDepth = 176.252889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.367366 # Actual altitude: 76.367366 # Commanded vehicle depth: 176.252889 # Seafloor depth: -252.406892 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761795 meters # Minimum depth: 247.993319 meters looking forward 50.000000 meters along route # Maximum depth: 256.624860 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.993319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530619; longitude = -121.220446; captureRadius = 10; duration = 105; initialDepth = 169.728660; finalDepth = 172.993319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.631541 # Actual altitude: 83.631541 # Commanded vehicle depth: 172.993319 # Seafloor depth: -256.624860 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 334.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761766 meters # Minimum depth: 244.728660 meters looking forward 50.000000 meters along route # Maximum depth: 255.209195 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.728660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531070; longitude = -121.220632; captureRadius = 10; duration = 105; initialDepth = 168.699969; finalDepth = 169.728660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.480535 # Actual altitude: 85.480535 # Commanded vehicle depth: 169.72866 # Seafloor depth: -255.209195 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 341.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 54.720392 meters # Minimum depth: 243.699969 meters looking forward 50.000000 meters along route # Maximum depth: 250.575193 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.699969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531521; longitude = -121.220817; captureRadius = 10; duration = 109; initialDepth = 169.186126; finalDepth = 168.699969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.480535 # Actual altitude: 85.480535 # Commanded vehicle depth: 168.699969 # Seafloor depth: -249.720734 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 341.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 50.803047 meters # Minimum depth: 244.186126 meters looking forward 50.000000 meters along route # Maximum depth: 250.175964 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.186126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531988; longitude = -121.221010; captureRadius = 10; duration = 101; initialDepth = 169.430867; finalDepth = 169.186126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.020765 # Actual altitude: 81.020765 # Commanded vehicle depth: 169.186126 # Seafloor depth: -246.739221 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 324.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761675 meters # Minimum depth: 244.430867 meters looking forward 50.000000 meters along route # Maximum depth: 246.018485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.430867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532422; longitude = -121.221188; captureRadius = 10; duration = 105; initialDepth = 166.280196; finalDepth = 169.430867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.553095 # Actual altitude: 77.553095 # Commanded vehicle depth: 169.430867 # Seafloor depth: -246.018485 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 53.102243 meters # Minimum depth: 241.280196 meters looking forward 50.000000 meters along route # Maximum depth: 245.186653 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 166.280196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532873; longitude = -121.221374; captureRadius = 10; duration = 106; initialDepth = 165.037606; finalDepth = 166.280196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.906457 # Actual altitude: 78.906457 # Commanded vehicle depth: 166.280196 # Seafloor depth: -245.186653 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.421016 meters # Minimum depth: 240.037606 meters looking forward 50.000000 meters along route # Maximum depth: 242.442093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 165.037606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533326; longitude = -121.221561; captureRadius = 10; duration = 104; initialDepth = 163.456636; finalDepth = 165.037606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.906457 # Actual altitude: 78.906457 # Commanded vehicle depth: 165.037606 # Seafloor depth: -241.273483 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761584 meters # Minimum depth: 238.456636 meters looking forward 50.000000 meters along route # Maximum depth: 242.749708 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 163.456636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533774; longitude = -121.221745; captureRadius = 10; duration = 105; initialDepth = 157.537242; finalDepth = 163.456636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.287673 # Actual altitude: 79.287673 # Commanded vehicle depth: 163.456636 # Seafloor depth: -242.744309 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 317.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 52.761553 meters # Minimum depth: 232.537242 meters looking forward 50.000000 meters along route # Maximum depth: 238.264342 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 157.537242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534225; longitude = -121.221931; captureRadius = 10; duration = 105; initialDepth = 158.245450; finalDepth = 157.537242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.180144 # Actual altitude: 80.180144 # Commanded vehicle depth: 157.537242 # Seafloor depth: -237.717386 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 320.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 50.962986 meters # Minimum depth: 233.245450 meters looking forward 50.000000 meters along route # Maximum depth: 237.092697 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 158.245450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534676; longitude = -121.222117; captureRadius = 10; duration = 101; initialDepth = 160.952768; finalDepth = 158.245450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.180144 # Actual altitude: 80.180144 # Commanded vehicle depth: 158.24545 # Seafloor depth: -233.245450 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 320.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 45.349323 meters # Minimum depth: 235.952768 meters looking forward 50.000000 meters along route # Maximum depth: 238.416093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 160.952768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535111; longitude = -121.222296; captureRadius = 10; duration = 90; # abortOnTimeout = True; initialDepth = 163.160876; finalDepth = 160.952768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.573225 # Actual altitude: 75.573225 # Commanded vehicle depth: 160.952768 # Seafloor depth: -236.525993 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 302.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.333250 meters # Minimum depth: 238.160876 meters looking forward 50.000000 meters along route # Maximum depth: 242.083982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 163.160876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534990; longitude = -121.222774; captureRadius = 10; duration = 104; initialDepth = 164.078782; finalDepth = 163.160876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.573225 # Actual altitude: 75.573225 # Commanded vehicle depth: 163.160876 # Seafloor depth: -238.464300 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 302.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 54.121134 meters # Minimum depth: 239.078782 meters looking forward 50.000000 meters along route # Maximum depth: 241.324157 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 164.078782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534850; longitude = -121.223325; captureRadius = 10; duration = 108; initialDepth = 166.536503; finalDepth = 164.078782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.245375 # Actual altitude: 77.245375 # Commanded vehicle depth: 164.078782 # Seafloor depth: -241.324157 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 308.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 72.259125 meters # Minimum depth: 241.536503 meters looking forward 50.000000 meters along route # Maximum depth: 245.553955 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 166.536503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534706; longitude = -121.223895; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 166.102285; finalDepth = 166.536503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.245375 # Actual altitude: 77.245375 # Commanded vehicle depth: 166.536503 # Seafloor depth: -241.536503 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 308.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 52.846104 meters # Minimum depth: 241.102285 meters looking forward 50.000000 meters along route # Maximum depth: 248.029303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 166.102285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534090; longitude = -121.223637; captureRadius = 10; duration = 105; initialDepth = 170.942669; finalDepth = 166.102285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 166.102285 # Seafloor depth: -241.102285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 50.126051 meters # Minimum depth: 245.942669 meters looking forward 50.000000 meters along route # Maximum depth: 247.801725 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 170.942669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533639; longitude = -121.223449; captureRadius = 10; duration = 100; initialDepth = 166.877016; finalDepth = 170.942669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.859056 # Actual altitude: 76.859056 # Commanded vehicle depth: 170.942669 # Seafloor depth: -247.801725 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 307.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 50.281634 meters # Minimum depth: 241.877016 meters looking forward 50.000000 meters along route # Maximum depth: 248.867112 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 166.877016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533211; longitude = -121.223270; captureRadius = 10; duration = 100; initialDepth = 174.143845; finalDepth = 166.877016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.680269 # Actual altitude: 79.680269 # Commanded vehicle depth: 166.877016 # Seafloor depth: -246.557285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846195 meters # Minimum depth: 249.143845 meters looking forward 50.000000 meters along route # Maximum depth: 254.717099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.143845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532783; longitude = -121.223090; captureRadius = 10; duration = 105; initialDepth = 174.151822; finalDepth = 174.143845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.680269 # Actual altitude: 79.680269 # Commanded vehicle depth: 174.143845 # Seafloor depth: -250.067604 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846226 meters # Minimum depth: 249.151822 meters looking forward 50.000000 meters along route # Maximum depth: 256.913643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.151822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532332; longitude = -121.222902; captureRadius = 10; duration = 105; initialDepth = 175.260576; finalDepth = 174.151822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.923759 # Actual altitude: 75.923759 # Commanded vehicle depth: 174.151822 # Seafloor depth: -249.151822 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846257 meters # Minimum depth: 250.260576 meters looking forward 50.000000 meters along route # Maximum depth: 257.807006 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.260576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531881; longitude = -121.222713; captureRadius = 10; duration = 105; initialDepth = 175.300924; finalDepth = 175.260576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.749105 # Actual altitude: 81.749105 # Commanded vehicle depth: 175.260576 # Seafloor depth: -257.009681 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 327.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 53.835203 meters # Minimum depth: 250.300924 meters looking forward 50.000000 meters along route # Maximum depth: 256.807773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.300924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531430; longitude = -121.222525; captureRadius = 10; duration = 107; initialDepth = 174.035862; finalDepth = 175.300924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.749105 # Actual altitude: 81.749105 # Commanded vehicle depth: 175.300924 # Seafloor depth: -251.269179 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 327.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 51.857405 meters # Minimum depth: 249.035862 meters looking forward 50.000000 meters along route # Maximum depth: 257.124138 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.035862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530971; longitude = -121.222333; captureRadius = 10; duration = 103; initialDepth = 181.276698; finalDepth = 174.035862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.968255 # Actual altitude: 75.968255 # Commanded vehicle depth: 174.035862 # Seafloor depth: -249.835423 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 303.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846351 meters # Minimum depth: 256.276698 meters looking forward 50.000000 meters along route # Maximum depth: 258.755110 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.276698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530529; longitude = -121.222148; captureRadius = 10; duration = 105; initialDepth = 181.372911; finalDepth = 181.276698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.799561 # Actual altitude: 75.799561 # Commanded vehicle depth: 181.276698 # Seafloor depth: -256.276698 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 303.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846382 meters # Minimum depth: 256.372911 meters looking forward 50.000000 meters along route # Maximum depth: 261.936361 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.372911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530078; longitude = -121.221959; captureRadius = 10; duration = 105; initialDepth = 184.214345; finalDepth = 181.372911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 181.372911 # Seafloor depth: -256.372911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846413 meters # Minimum depth: 259.214345 meters looking forward 50.000000 meters along route # Maximum depth: 264.002811 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.214345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.221771; captureRadius = 10; duration = 105; initialDepth = 176.986454; finalDepth = 184.214345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.311032 # Actual altitude: 77.311032 # Commanded vehicle depth: 184.214345 # Seafloor depth: -261.525377 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846445 meters # Minimum depth: 251.986454 meters looking forward 50.000000 meters along route # Maximum depth: 258.336666 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.986454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529177; longitude = -121.221582; captureRadius = 10; duration = 105; initialDepth = 180.099022; finalDepth = 176.986454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.350212 # Actual altitude: 81.350212 # Commanded vehicle depth: 176.986454 # Seafloor depth: -258.336666 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846475 meters # Minimum depth: 255.099022 meters looking forward 50.000000 meters along route # Maximum depth: 260.600719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.099022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.221393; captureRadius = 10; duration = 105; initialDepth = 182.764886; finalDepth = 180.099022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.350212 # Actual altitude: 81.350212 # Commanded vehicle depth: 180.099022 # Seafloor depth: -256.380128 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 54.719627 meters # Minimum depth: 257.764886 meters looking forward 50.000000 meters along route # Maximum depth: 263.179183 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.764886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.221205; captureRadius = 10; duration = 109; initialDepth = 186.679994; finalDepth = 182.764886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.414297 # Actual altitude: 80.414297 # Commanded vehicle depth: 182.764886 # Seafloor depth: -263.179183 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 321.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 50.973418 meters # Minimum depth: 261.679994 meters looking forward 50.000000 meters along route # Maximum depth: 266.777805 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.679994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527809; longitude = -121.221010; captureRadius = 10; duration = 101; initialDepth = 187.510864; finalDepth = 186.679994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.414297 # Actual altitude: 80.414297 # Commanded vehicle depth: 186.679994 # Seafloor depth: -262.772414 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 321.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846569 meters # Minimum depth: 262.510864 meters looking forward 50.000000 meters along route # Maximum depth: 265.935093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.510864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527374; longitude = -121.220828; captureRadius = 10; duration = 105; initialDepth = 188.662541; finalDepth = 187.510864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.424229 # Actual altitude: 78.424229 # Commanded vehicle depth: 187.510864 # Seafloor depth: -265.935093 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 313.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 52.846601 meters # Minimum depth: 263.662541 meters looking forward 50.000000 meters along route # Maximum depth: 265.145144 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.662541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526923; longitude = -121.220639; captureRadius = 10; duration = 105; initialDepth = 186.807125; finalDepth = 188.662541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.424229 # Actual altitude: 78.424229 # Commanded vehicle depth: 188.662541 # Seafloor depth: -264.214017 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 313.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 54.582635 meters # Minimum depth: 261.807125 meters looking forward 50.000000 meters along route # Maximum depth: 265.367597 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.807125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526473; longitude = -121.220451; captureRadius = 10; duration = 109; initialDepth = 188.687491; finalDepth = 186.807125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.709784 # Actual altitude: 77.709784 # Commanded vehicle depth: 186.807125 # Seafloor depth: -264.516909 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 310.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 45.959913 meters # Minimum depth: 263.687491 meters looking forward 50.000000 meters along route # Maximum depth: 266.913705 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.687491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526007; longitude = -121.220256; captureRadius = 10; duration = 91; # abortOnTimeout = True; initialDepth = 196.790076; finalDepth = 188.687491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.709784 # Actual altitude: 77.709784 # Commanded vehicle depth: 188.687491 # Seafloor depth: -263.920494 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 310.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 54.620974 meters # Minimum depth: 271.790076 meters looking forward 50.000000 meters along route # Maximum depth: 277.081303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.790076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525870; longitude = -121.220734; captureRadius = 10; duration = 109; initialDepth = 198.954369; finalDepth = 196.790076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.233003 # Actual altitude: 75.233003 # Commanded vehicle depth: 196.790076 # Seafloor depth: -271.790076 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 300.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 53.619560 meters # Minimum depth: 273.954369 meters looking forward 50.000000 meters along route # Maximum depth: 275.679417 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.954369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525706; longitude = -121.221302; captureRadius = 10; duration = 107; initialDepth = 187.676140; finalDepth = 198.954369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.022405 # Actual altitude: 76.022405 # Commanded vehicle depth: 198.954369 # Seafloor depth: -274.976774 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 304.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 71.572975 meters # Minimum depth: 262.676140 meters looking forward 50.000000 meters along route # Maximum depth: 275.538086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.676140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525546; longitude = -121.221860; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 189.584434; finalDepth = 187.676140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.861946 # Actual altitude: 87.861946 # Commanded vehicle depth: 187.67614 # Seafloor depth: -275.538086 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 52.736152 meters # Minimum depth: 264.584434 meters looking forward 50.000000 meters along route # Maximum depth: 271.986983 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.584434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526157; longitude = -121.222112; captureRadius = 10; duration = 105; initialDepth = 191.456737; finalDepth = 189.584434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.861946 # Actual altitude: 87.861946 # Commanded vehicle depth: 189.584434 # Seafloor depth: -269.276795 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770437 meters # Minimum depth: 266.456737 meters looking forward 50.000000 meters along route # Maximum depth: 271.583443 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.456737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526608; longitude = -121.222298; captureRadius = 10; duration = 105; initialDepth = 190.357592; finalDepth = 191.456737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.692361 # Actual altitude: 79.692361 # Commanded vehicle depth: 191.456737 # Seafloor depth: -269.791240 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770407 meters # Minimum depth: 265.357592 meters looking forward 50.000000 meters along route # Maximum depth: 270.719534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.357592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527058; longitude = -121.222484; captureRadius = 10; duration = 105; initialDepth = 191.443502; finalDepth = 190.357592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.361942 # Actual altitude: 80.361942 # Commanded vehicle depth: 190.357592 # Seafloor depth: -270.719534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770376 meters # Minimum depth: 266.443502 meters looking forward 50.000000 meters along route # Maximum depth: 268.206625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.443502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527509; longitude = -121.222670; captureRadius = 10; duration = 105; initialDepth = 189.726891; finalDepth = 191.443502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.361942 # Actual altitude: 80.361942 # Commanded vehicle depth: 191.443502 # Seafloor depth: -266.443502 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 54.913084 meters # Minimum depth: 264.726891 meters looking forward 50.000000 meters along route # Maximum depth: 266.223733 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.726891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527960; longitude = -121.222856; captureRadius = 10; duration = 109; initialDepth = 190.262568; finalDepth = 189.726891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.496842 # Actual altitude: 76.496842 # Commanded vehicle depth: 189.726891 # Seafloor depth: -266.223733 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.627577 meters # Minimum depth: 265.262568 meters looking forward 50.000000 meters along route # Maximum depth: 269.183410 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.262568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528429; longitude = -121.223049; captureRadius = 10; duration = 101; initialDepth = 187.083260; finalDepth = 190.262568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.496842 # Actual altitude: 76.496842 # Commanded vehicle depth: 190.262568 # Seafloor depth: -266.117989 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770285 meters # Minimum depth: 262.083260 meters looking forward 50.000000 meters along route # Maximum depth: 267.675098 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.083260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528861; longitude = -121.223228; captureRadius = 10; duration = 105; initialDepth = 187.359651; finalDepth = 187.083260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.981593 # Actual altitude: 79.981593 # Commanded vehicle depth: 187.08326 # Seafloor depth: -267.064853 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 319.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 53.049105 meters # Minimum depth: 262.359651 meters looking forward 50.000000 meters along route # Maximum depth: 267.804623 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.359651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529312; longitude = -121.223414; captureRadius = 10; duration = 106; initialDepth = 181.877414; finalDepth = 187.359651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.444972 # Actual altitude: 80.444972 # Commanded vehicle depth: 187.359651 # Seafloor depth: -267.804623 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 321.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.491375 meters # Minimum depth: 256.877414 meters looking forward 50.000000 meters along route # Maximum depth: 263.062668 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.877414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529765; longitude = -121.223601; captureRadius = 10; duration = 104; initialDepth = 174.622499; finalDepth = 181.877414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.87322 # Actual altitude: 80.87322 # Commanded vehicle depth: 181.877414 # Seafloor depth: -262.750634 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770194 meters # Minimum depth: 249.622499 meters looking forward 50.000000 meters along route # Maximum depth: 261.312265 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.622499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530214; longitude = -121.223786; captureRadius = 10; duration = 105; initialDepth = 184.548077; finalDepth = 174.622499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.170223 # Actual altitude: 82.170223 # Commanded vehicle depth: 174.622499 # Seafloor depth: -256.792722 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 328.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770164 meters # Minimum depth: 259.548077 meters looking forward 50.000000 meters along route # Maximum depth: 263.025364 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.548077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530664; longitude = -121.223971; captureRadius = 10; duration = 105; initialDepth = 181.625164; finalDepth = 184.548077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.170223 # Actual altitude: 82.170223 # Commanded vehicle depth: 184.548077 # Seafloor depth: -262.070631 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 328.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770134 meters # Minimum depth: 256.625164 meters looking forward 50.000000 meters along route # Maximum depth: 260.793426 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.625164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531115; longitude = -121.224157; captureRadius = 10; duration = 105; initialDepth = 178.816754; finalDepth = 181.625164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.132625 # Actual altitude: 78.132625 # Commanded vehicle depth: 181.625164 # Seafloor depth: -259.757789 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 55.157366 meters # Minimum depth: 253.816754 meters looking forward 50.000000 meters along route # Maximum depth: 256.859202 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.816754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531566; longitude = -121.224343; captureRadius = 10; duration = 110; initialDepth = 177.365499; finalDepth = 178.816754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.132625 # Actual altitude: 78.132625 # Commanded vehicle depth: 178.816754 # Seafloor depth: -255.887287 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.382810 meters # Minimum depth: 252.365499 meters looking forward 50.000000 meters along route # Maximum depth: 255.797610 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.365499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532037; longitude = -121.224538; captureRadius = 10; duration = 100; initialDepth = 176.444876; finalDepth = 177.365499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.070533 # Actual altitude: 77.070533 # Commanded vehicle depth: 177.365499 # Seafloor depth: -253.509557 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 308.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.770043 meters # Minimum depth: 251.444876 meters looking forward 50.000000 meters along route # Maximum depth: 255.739978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.444876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532467; longitude = -121.224715; captureRadius = 10; duration = 105; initialDepth = 176.775456; finalDepth = 176.444876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.072148 # Actual altitude: 78.072148 # Commanded vehicle depth: 176.444876 # Seafloor depth: -254.517024 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 53.293395 meters # Minimum depth: 251.775456 meters looking forward 50.000000 meters along route # Maximum depth: 254.821780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.775456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532918; longitude = -121.224901; captureRadius = 10; duration = 106; initialDepth = 170.011187; finalDepth = 176.775456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.072148 # Actual altitude: 78.072148 # Commanded vehicle depth: 176.775456 # Seafloor depth: -254.821780 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 52.246600 meters # Minimum depth: 245.011187 meters looking forward 50.000000 meters along route # Maximum depth: 254.048525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 170.011187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533373; longitude = -121.225089; captureRadius = 10; duration = 104; initialDepth = 172.620096; finalDepth = 170.011187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.721877 # Actual altitude: 81.721877 # Commanded vehicle depth: 170.011187 # Seafloor depth: -251.733064 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 53.355947 meters # Minimum depth: 247.620096 meters looking forward 50.000000 meters along route # Maximum depth: 250.390359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.620096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533819; longitude = -121.225273; captureRadius = 10; duration = 106; initialDepth = 167.130509; finalDepth = 172.620096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.721877 # Actual altitude: 81.721877 # Commanded vehicle depth: 172.620096 # Seafloor depth: -248.107198 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 48.796626 meters # Minimum depth: 242.130509 meters looking forward 50.000000 meters along route # Maximum depth: 249.645209 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.130509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534275; longitude = -121.225461; captureRadius = 10; duration = 97; # abortOnTimeout = True; initialDepth = 172.220379; finalDepth = 167.130509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.20811 # Actual altitude: 80.20811 # Commanded vehicle depth: 167.130509 # Seafloor depth: -247.338619 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 51.209192 meters # Minimum depth: 247.220379 meters looking forward 50.000000 meters along route # Maximum depth: 256.369804 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.220379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534134; longitude = -121.225971; captureRadius = 10; duration = 102; initialDepth = 176.094759; finalDepth = 172.220379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 80.20811 # Actual altitude: 80.20811 # Commanded vehicle depth: 172.220379 # Seafloor depth: -247.220379 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 73.642546 meters # Minimum depth: 251.094759 meters looking forward 50.000000 meters along route # Maximum depth: 255.433460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.094759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533987; longitude = -121.226506; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 177.282964; finalDepth = 176.094759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.338701 # Actual altitude: 79.338701 # Commanded vehicle depth: 176.094759 # Seafloor depth: -255.433460 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 51.534581 meters # Minimum depth: 252.282964 meters looking forward 50.000000 meters along route # Maximum depth: 254.001482 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.282964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533358; longitude = -121.226247; captureRadius = 10; duration = 103; initialDepth = 180.284265; finalDepth = 177.282964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.338701 # Actual altitude: 79.338701 # Commanded vehicle depth: 177.282964 # Seafloor depth: -252.951195 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770021 meters # Minimum depth: 255.284265 meters looking forward 50.000000 meters along route # Maximum depth: 257.427013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.284265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532918; longitude = -121.226065; captureRadius = 10; duration = 105; initialDepth = 181.142730; finalDepth = 180.284265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.668231 # Actual altitude: 75.668231 # Commanded vehicle depth: 180.284265 # Seafloor depth: -255.284265 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770051 meters # Minimum depth: 256.142730 meters looking forward 50.000000 meters along route # Maximum depth: 262.472762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.142730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532467; longitude = -121.225879; captureRadius = 10; duration = 105; initialDepth = 181.742892; finalDepth = 181.142730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.555303 # Actual altitude: 76.555303 # Commanded vehicle depth: 181.14273 # Seafloor depth: -257.698033 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770081 meters # Minimum depth: 256.742892 meters looking forward 50.000000 meters along route # Maximum depth: 261.675331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.742892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532016; longitude = -121.225693; captureRadius = 10; duration = 105; initialDepth = 174.008048; finalDepth = 181.742892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.579671 # Actual altitude: 76.579671 # Commanded vehicle depth: 181.742892 # Seafloor depth: -258.322563 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770112 meters # Minimum depth: 249.008048 meters looking forward 50.000000 meters along route # Maximum depth: 260.689290 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.008048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531566; longitude = -121.225507; captureRadius = 10; duration = 105; initialDepth = 181.317617; finalDepth = 174.008048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.681242 # Actual altitude: 86.681242 # Commanded vehicle depth: 174.008048 # Seafloor depth: -260.689290 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 346.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770141 meters # Minimum depth: 256.317617 meters looking forward 50.000000 meters along route # Maximum depth: 261.105872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.317617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531115; longitude = -121.225321; captureRadius = 10; duration = 105; initialDepth = 182.109272; finalDepth = 181.317617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.681242 # Actual altitude: 86.681242 # Commanded vehicle depth: 181.317617 # Seafloor depth: -258.584051 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 346.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770173 meters # Minimum depth: 257.109272 meters looking forward 50.000000 meters along route # Maximum depth: 257.914857 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.109272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530664; longitude = -121.225135; captureRadius = 10; duration = 105; initialDepth = 183.058216; finalDepth = 182.109272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.266434 # Actual altitude: 77.266434 # Commanded vehicle depth: 182.109272 # Seafloor depth: -257.218213 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 54.250152 meters # Minimum depth: 258.058216 meters looking forward 50.000000 meters along route # Maximum depth: 259.405230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.058216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530214; longitude = -121.224949; captureRadius = 10; duration = 108; initialDepth = 184.445201; finalDepth = 183.058216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.108941 # Actual altitude: 75.108941 # Commanded vehicle depth: 183.058216 # Seafloor depth: -258.058216 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 51.290283 meters # Minimum depth: 259.445201 meters looking forward 50.000000 meters along route # Maximum depth: 260.591732 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.445201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529750; longitude = -121.224758; captureRadius = 10; duration = 102; initialDepth = 185.706117; finalDepth = 184.445201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 184.445201 # Seafloor depth: -259.445201 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770263 meters # Minimum depth: 260.706117 meters looking forward 50.000000 meters along route # Maximum depth: 262.162321 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.706117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529312; longitude = -121.224577; captureRadius = 10; duration = 105; initialDepth = 187.504965; finalDepth = 185.706117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 185.706117 # Seafloor depth: -260.706117 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770294 meters # Minimum depth: 262.504965 meters looking forward 50.000000 meters along route # Maximum depth: 269.685273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.504965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528861; longitude = -121.224391; captureRadius = 10; duration = 105; initialDepth = 188.926758; finalDepth = 187.504965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 187.504965 # Seafloor depth: -262.504965 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770323 meters # Minimum depth: 263.926758 meters looking forward 50.000000 meters along route # Maximum depth: 270.584972 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.926758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528411; longitude = -121.224206; captureRadius = 10; duration = 105; initialDepth = 192.329034; finalDepth = 188.926758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.749212 # Actual altitude: 80.749212 # Commanded vehicle depth: 188.926758 # Seafloor depth: -269.675970 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770354 meters # Minimum depth: 267.329034 meters looking forward 50.000000 meters along route # Maximum depth: 271.045943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.329034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527960; longitude = -121.224020; captureRadius = 10; duration = 105; initialDepth = 191.724816; finalDepth = 192.329034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.749212 # Actual altitude: 80.749212 # Commanded vehicle depth: 192.329034 # Seafloor depth: -269.982723 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770385 meters # Minimum depth: 266.724816 meters looking forward 50.000000 meters along route # Maximum depth: 274.328119 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.724816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527509; longitude = -121.223834; captureRadius = 10; duration = 105; initialDepth = 190.510879; finalDepth = 191.724816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.485698 # Actual altitude: 78.485698 # Commanded vehicle depth: 191.724816 # Seafloor depth: -270.210514 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.770414 meters # Minimum depth: 265.510879 meters looking forward 50.000000 meters along route # Maximum depth: 272.457833 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.510879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527058; longitude = -121.223648; captureRadius = 10; duration = 105; initialDepth = 190.209726; finalDepth = 190.510879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.485698 # Actual altitude: 78.485698 # Commanded vehicle depth: 190.510879 # Seafloor depth: -265.510879 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 54.494938 meters # Minimum depth: 265.209726 meters looking forward 50.000000 meters along route # Maximum depth: 274.705299 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.209726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526608; longitude = -121.223462; captureRadius = 10; duration = 108; initialDepth = 196.954818; finalDepth = 190.209726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.809685 # Actual altitude: 79.809685 # Commanded vehicle depth: 190.209726 # Seafloor depth: -270.019411 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 51.045983 meters # Minimum depth: 271.954818 meters looking forward 50.000000 meters along route # Maximum depth: 279.350890 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.954818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526142; longitude = -121.223270; captureRadius = 10; duration = 102; initialDepth = 195.742965; finalDepth = 196.954818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.809685 # Actual altitude: 79.809685 # Commanded vehicle depth: 196.954818 # Seafloor depth: -274.587757 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 52.487278 meters # Minimum depth: 270.742965 meters looking forward 50.000000 meters along route # Maximum depth: 281.261365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 195.742965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525706; longitude = -121.223090; captureRadius = 10; duration = 104; initialDepth = 201.708090; finalDepth = 195.742965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.500999 # Actual altitude: 84.500999 # Commanded vehicle depth: 195.742965 # Seafloor depth: -280.243964 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 338.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 47.797619 meters # Minimum depth: 276.708090 meters looking forward 50.000000 meters along route # Maximum depth: 280.966282 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.708090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525258; longitude = -121.222905; captureRadius = 10; duration = 95; # abortOnTimeout = True; initialDepth = 201.493056; finalDepth = 201.708090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.500999 # Actual altitude: 84.500999 # Commanded vehicle depth: 201.70809 # Seafloor depth: -280.862617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 338.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 52.218330 meters # Minimum depth: 276.493056 meters looking forward 50.000000 meters along route # Maximum depth: 279.246562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.493056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525120; longitude = -121.223404; captureRadius = 10; duration = 104; initialDepth = 201.390228; finalDepth = 201.493056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.154527 # Actual altitude: 79.154527 # Commanded vehicle depth: 201.493056 # Seafloor depth: -276.555980 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 72.914541 meters # Minimum depth: 276.390228 meters looking forward 50.000000 meters along route # Maximum depth: 282.044605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.390228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524970; longitude = -121.223950; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 199.449540; finalDepth = 201.390228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.959015 # Actual altitude: 77.959015 # Commanded vehicle depth: 201.390228 # Seafloor depth: -279.349243 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.231159 meters # Minimum depth: 274.449540 meters looking forward 50.000000 meters along route # Maximum depth: 282.680967 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.449540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525593; longitude = -121.224207; captureRadius = 10; duration = 100; initialDepth = 199.202970; finalDepth = 199.449540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.231427 # Actual altitude: 83.231427 # Commanded vehicle depth: 199.44954 # Seafloor depth: -282.680967 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 332.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770432 meters # Minimum depth: 274.202970 meters looking forward 50.000000 meters along route # Maximum depth: 276.493658 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.202970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526022; longitude = -121.224384; captureRadius = 10; duration = 105; initialDepth = 198.673535; finalDepth = 199.202970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.231427 # Actual altitude: 83.231427 # Commanded vehicle depth: 199.20297 # Seafloor depth: -276.493658 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 332.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 53.445810 meters # Minimum depth: 273.673535 meters looking forward 50.000000 meters along route # Maximum depth: 276.553597 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.673535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526473; longitude = -121.224570; captureRadius = 10; duration = 106; initialDepth = 196.353416; finalDepth = 198.673535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.880062 # Actual altitude: 77.880062 # Commanded vehicle depth: 198.673535 # Seafloor depth: -276.553597 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 311.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.094963 meters # Minimum depth: 271.353416 meters looking forward 50.000000 meters along route # Maximum depth: 274.009272 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.353416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526929; longitude = -121.224758; captureRadius = 10; duration = 104; initialDepth = 196.287284; finalDepth = 196.353416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.880062 # Actual altitude: 77.880062 # Commanded vehicle depth: 196.353416 # Seafloor depth: -274.009272 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 311.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770341 meters # Minimum depth: 271.287284 meters looking forward 50.000000 meters along route # Maximum depth: 274.346335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.287284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527374; longitude = -121.224942; captureRadius = 10; duration = 105; initialDepth = 191.039034; finalDepth = 196.287284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.655856 # Actual altitude: 77.655856 # Commanded vehicle depth: 196.287284 # Seafloor depth: -273.157448 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770310 meters # Minimum depth: 266.039034 meters looking forward 50.000000 meters along route # Maximum depth: 271.253212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.039034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527825; longitude = -121.225128; captureRadius = 10; duration = 105; initialDepth = 188.326777; finalDepth = 191.039034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.214178 # Actual altitude: 80.214178 # Commanded vehicle depth: 191.039034 # Seafloor depth: -271.253212 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770281 meters # Minimum depth: 263.326777 meters looking forward 50.000000 meters along route # Maximum depth: 266.023636 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.326777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.225314; captureRadius = 10; duration = 105; initialDepth = 174.052000; finalDepth = 188.326777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.214178 # Actual altitude: 80.214178 # Commanded vehicle depth: 188.326777 # Seafloor depth: -266.023636 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770250 meters # Minimum depth: 249.052000 meters looking forward 50.000000 meters along route # Maximum depth: 259.980103 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.052000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.225500; captureRadius = 10; duration = 105; initialDepth = 169.798455; finalDepth = 174.052000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.928103 # Actual altitude: 85.928103 # Commanded vehicle depth: 174.052 # Seafloor depth: -259.980103 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 343.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770220 meters # Minimum depth: 244.798455 meters looking forward 50.000000 meters along route # Maximum depth: 250.345016 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.798455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529177; longitude = -121.225685; captureRadius = 10; duration = 105; initialDepth = 169.739414; finalDepth = 169.798455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.928103 # Actual altitude: 85.928103 # Commanded vehicle depth: 169.798455 # Seafloor depth: -250.345016 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 343.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770189 meters # Minimum depth: 244.739414 meters looking forward 50.000000 meters along route # Maximum depth: 264.967925 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.739414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.225871; captureRadius = 10; duration = 105; initialDepth = 184.437817; finalDepth = 169.739414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.546561 # Actual altitude: 80.546561 # Commanded vehicle depth: 169.739414 # Seafloor depth: -244.739414 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 53.690100 meters # Minimum depth: 259.437817 meters looking forward 50.000000 meters along route # Maximum depth: 260.858063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.437817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530078; longitude = -121.226057; captureRadius = 10; duration = 107; initialDepth = 184.471956; finalDepth = 184.437817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.420246 # Actual altitude: 76.420246 # Commanded vehicle depth: 184.437817 # Seafloor depth: -260.858063 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 51.850189 meters # Minimum depth: 259.471956 meters looking forward 50.000000 meters along route # Maximum depth: 262.799005 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.471956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530537; longitude = -121.226247; captureRadius = 10; duration = 103; initialDepth = 188.054625; finalDepth = 184.471956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.420246 # Actual altitude: 76.420246 # Commanded vehicle depth: 184.471956 # Seafloor depth: -259.471956 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770098 meters # Minimum depth: 263.054625 meters looking forward 50.000000 meters along route # Maximum depth: 267.279762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.054625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530980; longitude = -121.226429; captureRadius = 10; duration = 105; initialDepth = 182.892792; finalDepth = 188.054625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 188.054625 # Seafloor depth: -263.054625 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770068 meters # Minimum depth: 257.892792 meters looking forward 50.000000 meters along route # Maximum depth: 265.716905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.892792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531430; longitude = -121.226615; captureRadius = 10; duration = 105; initialDepth = 182.790486; finalDepth = 182.892792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.824113 # Actual altitude: 82.824113 # Commanded vehicle depth: 182.892792 # Seafloor depth: -265.716905 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 331.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770038 meters # Minimum depth: 257.790486 meters looking forward 50.000000 meters along route # Maximum depth: 261.464956 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.790486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531881; longitude = -121.226801; captureRadius = 10; duration = 105; initialDepth = 180.020603; finalDepth = 182.790486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.824113 # Actual altitude: 82.824113 # Commanded vehicle depth: 182.790486 # Seafloor depth: -259.791240 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 331.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.770008 meters # Minimum depth: 255.020603 meters looking forward 50.000000 meters along route # Maximum depth: 260.779636 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.020603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532332; longitude = -121.226987; captureRadius = 10; duration = 105; initialDepth = 181.845756; finalDepth = 180.020603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.365147 # Actual altitude: 78.365147 # Commanded vehicle depth: 180.020603 # Seafloor depth: -258.385750 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 52.769978 meters # Minimum depth: 256.845756 meters looking forward 50.000000 meters along route # Maximum depth: 260.388195 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.845756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532783; longitude = -121.227173; captureRadius = 10; duration = 105; initialDepth = 175.178979; finalDepth = 181.845756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.365147 # Actual altitude: 78.365147 # Commanded vehicle depth: 181.845756 # Seafloor depth: -256.845756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 54.519345 meters # Minimum depth: 250.178979 meters looking forward 50.000000 meters along route # Maximum depth: 259.873043 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.178979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533233; longitude = -121.227359; captureRadius = 10; duration = 109; initialDepth = 174.640706; finalDepth = 175.178979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.694064 # Actual altitude: 84.694064 # Commanded vehicle depth: 175.178979 # Seafloor depth: -259.873043 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 338.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 49.249280 meters # Minimum depth: 249.640706 meters looking forward 50.000000 meters along route # Maximum depth: 256.216031 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.640706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533699; longitude = -121.227551; captureRadius = 10; duration = 98; # abortOnTimeout = True; initialDepth = 177.701104; finalDepth = 174.640706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.694064 # Actual altitude: 84.694064 # Commanded vehicle depth: 174.640706 # Seafloor depth: -254.634647 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 338.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.757105 meters # Minimum depth: 252.701104 meters looking forward 50.000000 meters along route # Maximum depth: 256.559770 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.701104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533557; longitude = -121.228066; captureRadius = 10; duration = 101; initialDepth = 178.271034; finalDepth = 177.701104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.993941 # Actual altitude: 79.993941 # Commanded vehicle depth: 177.701104 # Seafloor depth: -255.069541 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 319.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 78.849766 meters # Minimum depth: 253.271034 meters looking forward 50.000000 meters along route # Maximum depth: 260.866858 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.271034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533411; longitude = -121.228596; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 185.839782; finalDepth = 178.271034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.368437 # Actual altitude: 77.368437 # Commanded vehicle depth: 178.271034 # Seafloor depth: -253.271034 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.771485 meters # Minimum depth: 260.839782 meters looking forward 50.000000 meters along route # Maximum depth: 265.074090 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.839782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532738; longitude = -121.228318; captureRadius = 10; duration = 105; initialDepth = 172.566681; finalDepth = 185.839782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 185.839782 # Seafloor depth: -260.839782 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 50.146694 meters # Minimum depth: 247.566681 meters looking forward 50.000000 meters along route # Maximum depth: 265.272190 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.566681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532287; longitude = -121.228132; captureRadius = 10; duration = 100; initialDepth = 185.186321; finalDepth = 172.566681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.705509 # Actual altitude: 92.705509 # Commanded vehicle depth: 172.566681 # Seafloor depth: -265.272190 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 50.119211 meters # Minimum depth: 260.186321 meters looking forward 50.000000 meters along route # Maximum depth: 263.128291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.186321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531859; longitude = -121.227955; captureRadius = 10; duration = 100; initialDepth = 187.994787; finalDepth = 185.186321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.705509 # Actual altitude: 92.705509 # Commanded vehicle depth: 185.186321 # Seafloor depth: -263.128291 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771573 meters # Minimum depth: 262.994787 meters looking forward 50.000000 meters along route # Maximum depth: 265.812451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.994787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531430; longitude = -121.227779; captureRadius = 10; duration = 105; initialDepth = 189.171224; finalDepth = 187.994787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.94197 # Actual altitude: 77.94197 # Commanded vehicle depth: 187.994787 # Seafloor depth: -262.994787 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 53.516572 meters # Minimum depth: 264.171224 meters looking forward 50.000000 meters along route # Maximum depth: 268.701099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.171224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530980; longitude = -121.227593; captureRadius = 10; duration = 107; initialDepth = 188.863642; finalDepth = 189.171224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.09515 # Actual altitude: 76.09515 # Commanded vehicle depth: 189.171224 # Seafloor depth: -265.266374 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.026665 meters # Minimum depth: 263.863642 meters looking forward 50.000000 meters along route # Maximum depth: 272.337247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.863642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530523; longitude = -121.227404; captureRadius = 10; duration = 104; initialDepth = 188.816851; finalDepth = 188.863642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.003282 # Actual altitude: 80.003282 # Commanded vehicle depth: 188.863642 # Seafloor depth: -268.866924 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 320.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771664 meters # Minimum depth: 263.816851 meters looking forward 50.000000 meters along route # Maximum depth: 264.325317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.816851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530078; longitude = -121.227221; captureRadius = 10; duration = 105; initialDepth = 189.450754; finalDepth = 188.816851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.003282 # Actual altitude: 80.003282 # Commanded vehicle depth: 188.816851 # Seafloor depth: -263.858186 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 320.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771694 meters # Minimum depth: 264.450754 meters looking forward 50.000000 meters along route # Maximum depth: 265.950415 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.450754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.227035; captureRadius = 10; duration = 105; initialDepth = 190.983037; finalDepth = 189.450754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.041335 # Actual altitude: 75.041335 # Commanded vehicle depth: 189.450754 # Seafloor depth: -264.450754 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771725 meters # Minimum depth: 265.983037 meters looking forward 50.000000 meters along route # Maximum depth: 267.338417 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.983037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529177; longitude = -121.226849; captureRadius = 10; duration = 105; initialDepth = 192.479372; finalDepth = 190.983037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 190.983037 # Seafloor depth: -265.983037 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771755 meters # Minimum depth: 267.479372 meters looking forward 50.000000 meters along route # Maximum depth: 268.564657 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.479372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.226663; captureRadius = 10; duration = 105; initialDepth = 193.539968; finalDepth = 192.479372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 192.479372 # Seafloor depth: -267.479372 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771785 meters # Minimum depth: 268.539968 meters looking forward 50.000000 meters along route # Maximum depth: 277.973076 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.539968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.226477; captureRadius = 10; duration = 105; initialDepth = 196.203765; finalDepth = 193.539968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.029795 # Actual altitude: 75.029795 # Commanded vehicle depth: 193.539968 # Seafloor depth: -268.569763 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771816 meters # Minimum depth: 271.203765 meters looking forward 50.000000 meters along route # Maximum depth: 278.843033 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.203765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527825; longitude = -121.226291; captureRadius = 10; duration = 105; initialDepth = 201.519964; finalDepth = 196.203765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.639268 # Actual altitude: 82.639268 # Commanded vehicle depth: 196.203765 # Seafloor depth: -278.843033 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 53.644086 meters # Minimum depth: 276.519964 meters looking forward 50.000000 meters along route # Maximum depth: 278.966484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.519964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527374; longitude = -121.226105; captureRadius = 10; duration = 107; initialDepth = 199.900741; finalDepth = 201.519964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.639268 # Actual altitude: 82.639268 # Commanded vehicle depth: 201.519964 # Seafloor depth: -277.441245 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 51.899636 meters # Minimum depth: 274.900741 meters looking forward 50.000000 meters along route # Maximum depth: 278.997033 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.900741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526916; longitude = -121.225916; captureRadius = 10; duration = 103; initialDepth = 195.205455; finalDepth = 199.900741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.797464 # Actual altitude: 77.797464 # Commanded vehicle depth: 199.900741 # Seafloor depth: -277.698205 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771906 meters # Minimum depth: 270.205455 meters looking forward 50.000000 meters along route # Maximum depth: 275.723106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 195.205455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526473; longitude = -121.225733; captureRadius = 10; duration = 105; initialDepth = 194.807648; finalDepth = 195.205455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.517651 # Actual altitude: 80.517651 # Commanded vehicle depth: 195.205455 # Seafloor depth: -275.723106 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771937 meters # Minimum depth: 269.807648 meters looking forward 50.000000 meters along route # Maximum depth: 280.963407 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.807648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526022; longitude = -121.225547; captureRadius = 10; duration = 105; initialDepth = 203.741277; finalDepth = 194.807648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.517651 # Actual altitude: 80.517651 # Commanded vehicle depth: 194.807648 # Seafloor depth: -272.139115 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 52.771967 meters # Minimum depth: 278.741277 meters looking forward 50.000000 meters along route # Maximum depth: 284.432064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.741277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525571; longitude = -121.225361; captureRadius = 10; duration = 105; initialDepth = 205.207906; finalDepth = 203.741277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.331467 # Actual altitude: 77.331467 # Commanded vehicle depth: 203.741277 # Seafloor depth: -278.741277 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 51.325314 meters # Minimum depth: 280.207906 meters looking forward 50.000000 meters along route # Maximum depth: 283.450885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.207906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525120; longitude = -121.225175; captureRadius = 10; duration = 102; initialDepth = 207.633814; finalDepth = 205.207906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.242979 # Actual altitude: 78.242979 # Commanded vehicle depth: 205.207906 # Seafloor depth: -283.450885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 46.014824 meters # Minimum depth: 282.633814 meters looking forward 50.000000 meters along route # Maximum depth: 289.561241 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.633814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524682; longitude = -121.224994; captureRadius = 10; duration = 92; # abortOnTimeout = True; initialDepth = 198.184258; finalDepth = 207.633814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.242979 # Actual altitude: 78.242979 # Commanded vehicle depth: 207.633814 # Seafloor depth: -284.018257 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 54.001691 meters # Minimum depth: 273.184258 meters looking forward 50.000000 meters along route # Maximum depth: 287.525927 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.184258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524549; longitude = -121.225475; captureRadius = 10; duration = 108; initialDepth = 199.506745; finalDepth = 198.184258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 89.341669 # Actual altitude: 89.341669 # Commanded vehicle depth: 198.184258 # Seafloor depth: -287.525927 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 74.521333 meters # Minimum depth: 274.506745 meters looking forward 50.000000 meters along route # Maximum depth: 287.172267 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.506745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524394; longitude = -121.226039; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 205.509648; finalDepth = 199.506745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.341669 # Actual altitude: 89.341669 # Commanded vehicle depth: 199.506745 # Seafloor depth: -284.108482 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.741592 meters # Minimum depth: 280.509648 meters looking forward 50.000000 meters along route # Maximum depth: 286.345359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.509648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525030; longitude = -121.226302; captureRadius = 10; duration = 105; initialDepth = 206.492072; finalDepth = 205.509648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.601737 # Actual altitude: 84.601737 # Commanded vehicle depth: 205.509648 # Seafloor depth: -280.509648 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 338.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771921 meters # Minimum depth: 281.492072 meters looking forward 50.000000 meters along route # Maximum depth: 283.223139 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.492072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525481; longitude = -121.226488; captureRadius = 10; duration = 105; initialDepth = 204.321890; finalDepth = 206.492072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.667771 # Actual altitude: 75.667771 # Commanded vehicle depth: 206.492072 # Seafloor depth: -282.159843 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771891 meters # Minimum depth: 279.321890 meters looking forward 50.000000 meters along route # Maximum depth: 283.199852 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 204.321890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525932; longitude = -121.226674; captureRadius = 10; duration = 105; initialDepth = 203.559114; finalDepth = 204.321890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.770233 # Actual altitude: 78.770233 # Commanded vehicle depth: 204.32189 # Seafloor depth: -283.092123 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771860 meters # Minimum depth: 278.559114 meters looking forward 50.000000 meters along route # Maximum depth: 281.148764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.559114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526382; longitude = -121.226860; captureRadius = 10; duration = 105; initialDepth = 202.906702; finalDepth = 203.559114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.770233 # Actual altitude: 78.770233 # Commanded vehicle depth: 203.559114 # Seafloor depth: -279.159981 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 54.836832 meters # Minimum depth: 277.906702 meters looking forward 50.000000 meters along route # Maximum depth: 281.851805 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.906702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526833; longitude = -121.227045; captureRadius = 10; duration = 109; initialDepth = 201.523120; finalDepth = 202.906702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.945103 # Actual altitude: 78.945103 # Commanded vehicle depth: 202.906702 # Seafloor depth: -281.851805 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.706797 meters # Minimum depth: 276.523120 meters looking forward 50.000000 meters along route # Maximum depth: 278.888329 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.523120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527301; longitude = -121.227239; captureRadius = 10; duration = 101; initialDepth = 200.408382; finalDepth = 201.523120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.945103 # Actual altitude: 78.945103 # Commanded vehicle depth: 201.52312 # Seafloor depth: -277.952476 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771770 meters # Minimum depth: 275.408382 meters looking forward 50.000000 meters along route # Maximum depth: 278.836560 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.408382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527735; longitude = -121.227417; captureRadius = 10; duration = 105; initialDepth = 199.258120; finalDepth = 200.408382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.508301 # Actual altitude: 76.508301 # Commanded vehicle depth: 200.408382 # Seafloor depth: -276.916683 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 306.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.929366 meters # Minimum depth: 274.258120 meters looking forward 50.000000 meters along route # Maximum depth: 280.820708 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.258120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528185; longitude = -121.227603; captureRadius = 10; duration = 105; initialDepth = 193.305393; finalDepth = 199.258120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.677987 # Actual altitude: 77.677987 # Commanded vehicle depth: 199.25812 # Seafloor depth: -276.936107 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.614081 meters # Minimum depth: 268.305393 meters looking forward 50.000000 meters along route # Maximum depth: 280.781552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.305393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528637; longitude = -121.227790; captureRadius = 10; duration = 105; initialDepth = 193.045568; finalDepth = 193.305393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.476159 # Actual altitude: 87.476159 # Commanded vehicle depth: 193.305393 # Seafloor depth: -280.781552 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 349.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771678 meters # Minimum depth: 268.045568 meters looking forward 50.000000 meters along route # Maximum depth: 274.212254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.045568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529087; longitude = -121.227975; captureRadius = 10; duration = 105; initialDepth = 197.113358; finalDepth = 193.045568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.476159 # Actual altitude: 87.476159 # Commanded vehicle depth: 193.045568 # Seafloor depth: -268.045568 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 349.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771648 meters # Minimum depth: 272.113358 meters looking forward 50.000000 meters along route # Maximum depth: 274.364237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.113358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529537; longitude = -121.228161; captureRadius = 10; duration = 105; initialDepth = 190.091264; finalDepth = 197.113358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.175224 # Actual altitude: 77.175224 # Commanded vehicle depth: 197.113358 # Seafloor depth: -274.288582 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 308.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771618 meters # Minimum depth: 265.091264 meters looking forward 50.000000 meters along route # Maximum depth: 275.134776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.091264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529988; longitude = -121.228347; captureRadius = 10; duration = 105; initialDepth = 188.359298; finalDepth = 190.091264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.011978 # Actual altitude: 83.011978 # Commanded vehicle depth: 190.091264 # Seafloor depth: -273.103242 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 332.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 54.963849 meters # Minimum depth: 263.359298 meters looking forward 50.000000 meters along route # Maximum depth: 272.603024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.359298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530439; longitude = -121.228533; captureRadius = 10; duration = 109; initialDepth = 195.088453; finalDepth = 188.359298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.011978 # Actual altitude: 83.011978 # Commanded vehicle depth: 188.359298 # Seafloor depth: -263.359298 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 332.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.579295 meters # Minimum depth: 270.088453 meters looking forward 50.000000 meters along route # Maximum depth: 273.769562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 195.088453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530908; longitude = -121.228727; captureRadius = 10; duration = 101; initialDepth = 191.806007; finalDepth = 195.088453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.498761 # Actual altitude: 77.498761 # Commanded vehicle depth: 195.088453 # Seafloor depth: -272.587214 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 310.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.771527 meters # Minimum depth: 266.806007 meters looking forward 50.000000 meters along route # Maximum depth: 271.356460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.806007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531340; longitude = -121.228905; captureRadius = 10; duration = 105; initialDepth = 187.936976; finalDepth = 191.806007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.550453 # Actual altitude: 79.550453 # Commanded vehicle depth: 191.806007 # Seafloor depth: -271.356460 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 53.056391 meters # Minimum depth: 262.936976 meters looking forward 50.000000 meters along route # Maximum depth: 266.878516 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.936976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531791; longitude = -121.229091; captureRadius = 10; duration = 106; initialDepth = 185.922610; finalDepth = 187.936976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.550453 # Actual altitude: 79.550453 # Commanded vehicle depth: 187.936976 # Seafloor depth: -266.737350 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 52.486572 meters # Minimum depth: 260.922610 meters looking forward 50.000000 meters along route # Maximum depth: 262.988435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.922610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532244; longitude = -121.229278; captureRadius = 10; duration = 104; initialDepth = 183.545848; finalDepth = 185.922610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.800374 # Actual altitude: 78.800374 # Commanded vehicle depth: 185.92261 # Seafloor depth: -262.988435 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.407177 meters # Minimum depth: 258.545848 meters looking forward 50.000000 meters along route # Maximum depth: 262.938160 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.545848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532692; longitude = -121.229463; captureRadius = 10; duration = 100; initialDepth = 185.444668; finalDepth = 183.545848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.386511 # Actual altitude: 78.386511 # Commanded vehicle depth: 183.545848 # Seafloor depth: -261.932359 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 313.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 44.804995 meters # Minimum depth: 260.444668 meters looking forward 50.000000 meters along route # Maximum depth: 265.661712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.444668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533123; longitude = -121.229641; captureRadius = 10; duration = 89; # abortOnTimeout = True; initialDepth = 185.967974; finalDepth = 185.444668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.471325 # Actual altitude: 78.471325 # Commanded vehicle depth: 185.444668 # Seafloor depth: -263.915993 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.203753 meters # Minimum depth: 260.967974 meters looking forward 50.000000 meters along route # Maximum depth: 265.716797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.967974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532985; longitude = -121.230105; captureRadius = 10; duration = 106; initialDepth = 190.952964; finalDepth = 185.967974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.471325 # Actual altitude: 78.471325 # Commanded vehicle depth: 185.967974 # Seafloor depth: -260.967974 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 51.397728 meters # Minimum depth: 265.952964 meters looking forward 50.000000 meters along route # Maximum depth: 270.933158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.952964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532821; longitude = -121.230656; captureRadius = 10; duration = 102; initialDepth = 185.112786; finalDepth = 190.952964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 190.952964 # Seafloor depth: -265.952964 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 75.694988 meters # Minimum depth: 260.112786 meters looking forward 50.000000 meters along route # Maximum depth: 270.838654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.112786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532662; longitude = -121.231189; captureRadius = 10; duration = 151; # abortOnTimeout = True; initialDepth = 184.074095; finalDepth = 185.112786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.725868 # Actual altitude: 85.725868 # Commanded vehicle depth: 185.112786 # Seafloor depth: -270.838654 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 342.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.845209 meters # Minimum depth: 259.074095 meters looking forward 50.000000 meters along route # Maximum depth: 266.963490 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.074095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532016; longitude = -121.230919; captureRadius = 10; duration = 105; initialDepth = 192.978696; finalDepth = 184.074095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.725868 # Actual altitude: 85.725868 # Commanded vehicle depth: 184.074095 # Seafloor depth: -261.423277 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 342.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845240 meters # Minimum depth: 267.978696 meters looking forward 50.000000 meters along route # Maximum depth: 275.381731 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.978696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531566; longitude = -121.230730; captureRadius = 10; duration = 105; initialDepth = 193.670018; finalDepth = 192.978696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.349182 # Actual altitude: 77.349182 # Commanded vehicle depth: 192.978696 # Seafloor depth: -267.978696 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845271 meters # Minimum depth: 268.670018 meters looking forward 50.000000 meters along route # Maximum depth: 271.540752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.670018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531115; longitude = -121.230542; captureRadius = 10; duration = 105; initialDepth = 189.074141; finalDepth = 193.670018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.067168 # Actual altitude: 76.067168 # Commanded vehicle depth: 193.670018 # Seafloor depth: -269.737186 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 54.121219 meters # Minimum depth: 264.074141 meters looking forward 50.000000 meters along route # Maximum depth: 276.115136 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.074141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530664; longitude = -121.230353; captureRadius = 10; duration = 108; initialDepth = 198.115946; finalDepth = 189.074141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.48944 # Actual altitude: 81.48944 # Commanded vehicle depth: 189.074141 # Seafloor depth: -270.563581 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 325.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 51.569417 meters # Minimum depth: 273.115946 meters looking forward 50.000000 meters along route # Maximum depth: 278.478304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.115946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530203; longitude = -121.230160; captureRadius = 10; duration = 103; initialDepth = 200.709129; finalDepth = 198.115946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.48944 # Actual altitude: 81.48944 # Commanded vehicle depth: 198.115946 # Seafloor depth: -275.746550 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 325.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845364 meters # Minimum depth: 275.709129 meters looking forward 50.000000 meters along route # Maximum depth: 278.644552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.709129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529763; longitude = -121.229976; captureRadius = 10; duration = 105; initialDepth = 197.912267; finalDepth = 200.709129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.86365 # Actual altitude: 77.86365 # Commanded vehicle depth: 200.709129 # Seafloor depth: -278.572779 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 311.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 50.110643 meters # Minimum depth: 272.912267 meters looking forward 50.000000 meters along route # Maximum depth: 278.164812 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.912267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529312; longitude = -121.229788; captureRadius = 10; duration = 100; initialDepth = 202.812136; finalDepth = 197.912267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.692888 # Actual altitude: 79.692888 # Commanded vehicle depth: 197.912267 # Seafloor depth: -277.605155 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 50.295636 meters # Minimum depth: 277.812136 meters looking forward 50.000000 meters along route # Maximum depth: 281.192372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.812136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528885; longitude = -121.229609; captureRadius = 10; duration = 100; initialDepth = 201.010718; finalDepth = 202.812136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.692888 # Actual altitude: 79.692888 # Commanded vehicle depth: 202.812136 # Seafloor depth: -277.812136 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845455 meters # Minimum depth: 276.010718 meters looking forward 50.000000 meters along route # Maximum depth: 280.350737 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.010718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528456; longitude = -121.229430; captureRadius = 10; duration = 105; initialDepth = 205.334540; finalDepth = 201.010718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.323881 # Actual altitude: 78.323881 # Commanded vehicle depth: 201.010718 # Seafloor depth: -279.334599 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845486 meters # Minimum depth: 280.334540 meters looking forward 50.000000 meters along route # Maximum depth: 283.098854 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.334540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528005; longitude = -121.229241; captureRadius = 10; duration = 105; initialDepth = 203.804675; finalDepth = 205.334540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.323881 # Actual altitude: 78.323881 # Commanded vehicle depth: 205.33454 # Seafloor depth: -281.802480 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845517 meters # Minimum depth: 278.804675 meters looking forward 50.000000 meters along route # Maximum depth: 283.156958 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.804675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527554; longitude = -121.229053; captureRadius = 10; duration = 105; initialDepth = 205.652341; finalDepth = 203.804675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.805557 # Actual altitude: 78.805557 # Commanded vehicle depth: 203.804675 # Seafloor depth: -282.610232 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 53.861739 meters # Minimum depth: 280.652341 meters looking forward 50.000000 meters along route # Maximum depth: 283.195802 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.652341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527104; longitude = -121.228864; captureRadius = 10; duration = 107; initialDepth = 205.877294; finalDepth = 205.652341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.805557 # Actual altitude: 78.805557 # Commanded vehicle depth: 205.652341 # Seafloor depth: -280.663910 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 51.829389 meters # Minimum depth: 280.877294 meters looking forward 50.000000 meters along route # Maximum depth: 284.433303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.877294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526644; longitude = -121.228672; captureRadius = 10; duration = 103; initialDepth = 204.673481; finalDepth = 205.877294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.670538 # Actual altitude: 76.670538 # Commanded vehicle depth: 205.877294 # Seafloor depth: -282.547832 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845611 meters # Minimum depth: 279.673481 meters looking forward 50.000000 meters along route # Maximum depth: 285.090895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 204.673481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526202; longitude = -121.228487; captureRadius = 10; duration = 105; initialDepth = 210.654117; finalDepth = 204.673481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.701703 # Actual altitude: 78.701703 # Commanded vehicle depth: 204.673481 # Seafloor depth: -283.375184 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845642 meters # Minimum depth: 285.654117 meters looking forward 50.000000 meters along route # Maximum depth: 289.684068 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 210.654117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525751; longitude = -121.228299; captureRadius = 10; duration = 105; initialDepth = 209.638138; finalDepth = 210.654117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.701703 # Actual altitude: 78.701703 # Commanded vehicle depth: 210.654117 # Seafloor depth: -285.654117 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845673 meters # Minimum depth: 284.638138 meters looking forward 50.000000 meters along route # Maximum depth: 292.578331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.638138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525301; longitude = -121.228110; captureRadius = 10; duration = 105; initialDepth = 207.414614; finalDepth = 209.638138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.93964 # Actual altitude: 80.93964 # Commanded vehicle depth: 209.638138 # Seafloor depth: -290.577778 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 52.845704 meters # Minimum depth: 282.414614 meters looking forward 50.000000 meters along route # Maximum depth: 290.413668 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.414614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524850; longitude = -121.227922; captureRadius = 10; duration = 105; initialDepth = 213.877474; finalDepth = 207.414614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.93964 # Actual altitude: 80.93964 # Commanded vehicle depth: 207.414614 # Seafloor depth: -282.853741 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 51.027336 meters # Minimum depth: 288.877474 meters looking forward 50.000000 meters along route # Maximum depth: 290.456467 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.877474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524399; longitude = -121.227733; captureRadius = 10; duration = 102; initialDepth = 214.430555; finalDepth = 213.877474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.053947 # Actual altitude: 76.053947 # Commanded vehicle depth: 213.877474 # Seafloor depth: -289.931421 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 49.094097 meters # Minimum depth: 289.430555 meters looking forward 50.000000 meters along route # Maximum depth: 291.099207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.430555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523964; longitude = -121.227551; captureRadius = 10; duration = 98; # abortOnTimeout = True; initialDepth = 216.278268; finalDepth = 214.430555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.053947 # Actual altitude: 76.053947 # Commanded vehicle depth: 214.430555 # Seafloor depth: -289.442528 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.199707 meters # Minimum depth: 291.278268 meters looking forward 50.000000 meters along route # Maximum depth: 298.648075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 216.278268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523827; longitude = -121.228066; captureRadius = 10; duration = 106; initialDepth = 219.722901; finalDepth = 216.278268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.011973 # Actual altitude: 75.011973 # Commanded vehicle depth: 216.278268 # Seafloor depth: -291.278268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 53.682603 meters # Minimum depth: 294.722901 meters looking forward 50.000000 meters along route # Maximum depth: 296.594901 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.722901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523678; longitude = -121.228623; captureRadius = 10; duration = 107; initialDepth = 219.652512; finalDepth = 219.722901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.872 # Actual altitude: 76.872 # Commanded vehicle depth: 219.722901 # Seafloor depth: -296.594901 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 307.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 80.966600 meters # Minimum depth: 294.652512 meters looking forward 50.000000 meters along route # Maximum depth: 300.655561 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.652512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523528; longitude = -121.229186; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 219.347187; finalDepth = 219.652512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.872 # Actual altitude: 76.872 # Commanded vehicle depth: 219.652512 # Seafloor depth: -294.652512 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 307.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.694081 meters # Minimum depth: 294.347187 meters looking forward 50.000000 meters along route # Maximum depth: 299.555393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.347187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524219; longitude = -121.229474; captureRadius = 10; duration = 107; initialDepth = 217.350132; finalDepth = 219.347187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.208206 # Actual altitude: 80.208206 # Commanded vehicle depth: 219.347187 # Seafloor depth: -299.555393 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 51.942200 meters # Minimum depth: 292.350132 meters looking forward 50.000000 meters along route # Maximum depth: 296.081247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 217.350132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524677; longitude = -121.229664; captureRadius = 10; duration = 103; initialDepth = 212.990106; finalDepth = 217.350132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.208206 # Actual altitude: 80.208206 # Commanded vehicle depth: 217.350132 # Seafloor depth: -296.081247 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.818094 meters # Minimum depth: 287.990106 meters looking forward 50.000000 meters along route # Maximum depth: 292.517908 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.990106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525120; longitude = -121.229849; captureRadius = 10; duration = 105; initialDepth = 208.732208; finalDepth = 212.990106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.527802 # Actual altitude: 79.527802 # Commanded vehicle depth: 212.990106 # Seafloor depth: -292.517908 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.818063 meters # Minimum depth: 283.732208 meters looking forward 50.000000 meters along route # Maximum depth: 290.009774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 208.732208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525571; longitude = -121.230036; captureRadius = 10; duration = 105; initialDepth = 207.080965; finalDepth = 208.732208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.057018 # Actual altitude: 81.057018 # Commanded vehicle depth: 208.732208 # Seafloor depth: -289.789226 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 324.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.818033 meters # Minimum depth: 282.080965 meters looking forward 50.000000 meters along route # Maximum depth: 286.903655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.080965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526022; longitude = -121.230224; captureRadius = 10; duration = 105; initialDepth = 210.037255; finalDepth = 207.080965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.057018 # Actual altitude: 81.057018 # Commanded vehicle depth: 207.080965 # Seafloor depth: -282.080965 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 324.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 53.477138 meters # Minimum depth: 285.037255 meters looking forward 50.000000 meters along route # Maximum depth: 287.032759 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 210.037255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526473; longitude = -121.230411; captureRadius = 10; duration = 106; initialDepth = 207.316274; finalDepth = 210.037255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 210.037255 # Seafloor depth: -285.037255 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.158834 meters # Minimum depth: 282.316274 meters looking forward 50.000000 meters along route # Maximum depth: 286.845206 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.316274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526929; longitude = -121.230601; captureRadius = 10; duration = 104; initialDepth = 208.118144; finalDepth = 207.316274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.313878 # Actual altitude: 78.313878 # Commanded vehicle depth: 207.316274 # Seafloor depth: -285.630152 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817940 meters # Minimum depth: 283.118144 meters looking forward 50.000000 meters along route # Maximum depth: 285.380897 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 208.118144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527374; longitude = -121.230787; captureRadius = 10; duration = 105; initialDepth = 204.601883; finalDepth = 208.118144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.313878 # Actual altitude: 78.313878 # Commanded vehicle depth: 208.118144 # Seafloor depth: -284.579391 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817909 meters # Minimum depth: 279.601883 meters looking forward 50.000000 meters along route # Maximum depth: 286.687045 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 204.601883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527825; longitude = -121.230974; captureRadius = 10; duration = 105; initialDepth = 197.904513; finalDepth = 204.601883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.858001 # Actual altitude: 80.858001 # Commanded vehicle depth: 204.601883 # Seafloor depth: -285.459884 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817879 meters # Minimum depth: 272.904513 meters looking forward 50.000000 meters along route # Maximum depth: 281.075136 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.904513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.231162; captureRadius = 10; duration = 105; initialDepth = 202.160938; finalDepth = 197.904513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.858001 # Actual altitude: 80.858001 # Commanded vehicle depth: 197.904513 # Seafloor depth: -278.463351 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 53.260197 meters # Minimum depth: 277.160938 meters looking forward 50.000000 meters along route # Maximum depth: 285.895138 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.160938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.231349; captureRadius = 10; duration = 106; initialDepth = 203.847184; finalDepth = 202.160938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.558838 # Actual altitude: 80.558838 # Commanded vehicle depth: 202.160938 # Seafloor depth: -282.058289 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.17; MB_Bottom_Detect_Filter_Max_Range = 322.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.375467 meters # Minimum depth: 278.847184 meters looking forward 50.000000 meters along route # Maximum depth: 284.965208 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.847184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529181; longitude = -121.231538; captureRadius = 10; duration = 104; initialDepth = 203.143470; finalDepth = 203.847184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.897351 # Actual altitude: 79.897351 # Commanded vehicle depth: 203.847184 # Seafloor depth: -282.646179 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 319.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817785 meters # Minimum depth: 278.143470 meters looking forward 50.000000 meters along route # Maximum depth: 279.863654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.143470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.231724; captureRadius = 10; duration = 105; initialDepth = 200.665771; finalDepth = 203.143470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.798995 # Actual altitude: 78.798995 # Commanded vehicle depth: 203.14347 # Seafloor depth: -278.797855 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.025659 meters # Minimum depth: 275.665771 meters looking forward 50.000000 meters along route # Maximum depth: 279.242991 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.665771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530078; longitude = -121.231912; captureRadius = 10; duration = 100; initialDepth = 199.536285; finalDepth = 200.665771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.202339 # Actual altitude: 78.202339 # Commanded vehicle depth: 200.665771 # Seafloor depth: -278.868110 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.328049 meters # Minimum depth: 274.536285 meters looking forward 50.000000 meters along route # Maximum depth: 275.829155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.536285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530505; longitude = -121.232090; captureRadius = 10; duration = 100; initialDepth = 197.806644; finalDepth = 199.536285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.202339 # Actual altitude: 78.202339 # Commanded vehicle depth: 199.536285 # Seafloor depth: -275.675045 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817697 meters # Minimum depth: 272.806644 meters looking forward 50.000000 meters along route # Maximum depth: 276.710062 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.806644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530935; longitude = -121.232268; captureRadius = 10; duration = 105; initialDepth = 197.019503; finalDepth = 197.806644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.903418 # Actual altitude: 78.903418 # Commanded vehicle depth: 197.806644 # Seafloor depth: -276.710062 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 52.817665 meters # Minimum depth: 272.019503 meters looking forward 50.000000 meters along route # Maximum depth: 276.853589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.019503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531385; longitude = -121.232456; captureRadius = 10; duration = 105; initialDepth = 190.042514; finalDepth = 197.019503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.903418 # Actual altitude: 78.903418 # Commanded vehicle depth: 197.019503 # Seafloor depth: -273.429835 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 51.080511 meters # Minimum depth: 265.042514 meters looking forward 50.000000 meters along route # Maximum depth: 276.452121 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.042514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531836; longitude = -121.232644; captureRadius = 10; duration = 102; initialDepth = 193.567446; finalDepth = 190.042514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.409607 # Actual altitude: 86.409607 # Commanded vehicle depth: 190.042514 # Seafloor depth: -276.452121 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 345.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 79.844190 meters # Minimum depth: 268.567446 meters looking forward 50.000000 meters along route # Maximum depth: 274.594146 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.567446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532272; longitude = -121.232825; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 198.891584; finalDepth = 193.567446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.409607 # Actual altitude: 86.409607 # Commanded vehicle depth: 193.567446 # Seafloor depth: -273.218048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 345.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.949937 meters # Minimum depth: 273.891584 meters looking forward 50.000000 meters along route # Maximum depth: 275.309236 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.891584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531566; longitude = -121.232994; captureRadius = 10; duration = 101; initialDepth = 198.699734; finalDepth = 198.891584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.650602 # Actual altitude: 79.650602 # Commanded vehicle depth: 198.891584 # Seafloor depth: -275.236516 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 50.949941 meters # Minimum depth: 273.699734 meters looking forward 50.000000 meters along route # Maximum depth: 279.162397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.699734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531115; longitude = -121.233102; captureRadius = 10; duration = 101; initialDepth = 202.327922; finalDepth = 198.699734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.344932 # Actual altitude: 76.344932 # Commanded vehicle depth: 198.699734 # Seafloor depth: -273.699734 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 52.703054 meters # Minimum depth: 277.327922 meters looking forward 50.000000 meters along route # Maximum depth: 282.382601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.327922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530664; longitude = -121.233210; captureRadius = 10; duration = 105; initialDepth = 201.534592; finalDepth = 202.327922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.590615 # Actual altitude: 77.590615 # Commanded vehicle depth: 202.327922 # Seafloor depth: -279.918537 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 43.804328 meters # Minimum depth: 276.534592 meters looking forward 50.000000 meters along route # Maximum depth: 280.635904 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.534592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530198; longitude = -121.233321; captureRadius = 10; duration = 87; # abortOnTimeout = True; initialDepth = 200.929596; finalDepth = 201.534592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.590615 # Actual altitude: 77.590615 # Commanded vehicle depth: 201.534592 # Seafloor depth: -276.534592 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.543952 meters # Minimum depth: 275.929596 meters looking forward 50.000000 meters along route # Maximum depth: 282.946872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.929596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530320; longitude = -121.232861; captureRadius = 10; duration = 105; initialDepth = 199.019775; finalDepth = 200.929596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.369577 # Actual altitude: 81.369577 # Commanded vehicle depth: 200.929596 # Seafloor depth: -282.299173 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543875 meters # Minimum depth: 274.019775 meters looking forward 50.000000 meters along route # Maximum depth: 275.650298 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.019775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530465; longitude = -121.232310; captureRadius = 10; duration = 105; initialDepth = 199.081768; finalDepth = 199.019775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.369577 # Actual altitude: 81.369577 # Commanded vehicle depth: 199.019775 # Seafloor depth: -275.420636 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543800 meters # Minimum depth: 274.081768 meters looking forward 50.000000 meters along route # Maximum depth: 278.328210 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.081768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530611; longitude = -121.231759; captureRadius = 10; duration = 105; initialDepth = 191.641390; finalDepth = 199.081768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.400861 # Actual altitude: 76.400861 # Commanded vehicle depth: 199.081768 # Seafloor depth: -274.081768 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 305.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543724 meters # Minimum depth: 266.641390 meters looking forward 50.000000 meters along route # Maximum depth: 278.933299 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.641390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530757; longitude = -121.231208; captureRadius = 10; duration = 105; initialDepth = 185.930760; finalDepth = 191.641390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.693685 # Actual altitude: 86.693685 # Commanded vehicle depth: 191.64139 # Seafloor depth: -278.335075 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 346.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543649 meters # Minimum depth: 260.930760 meters looking forward 50.000000 meters along route # Maximum depth: 271.688359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.930760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530903; longitude = -121.230656; captureRadius = 10; duration = 105; initialDepth = 194.923521; finalDepth = 185.930760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.693685 # Actual altitude: 86.693685 # Commanded vehicle depth: 185.93076 # Seafloor depth: -262.999517 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 346.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543573 meters # Minimum depth: 269.923521 meters looking forward 50.000000 meters along route # Maximum depth: 272.658409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.923521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531049; longitude = -121.230105; captureRadius = 10; duration = 105; initialDepth = 194.229016; finalDepth = 194.923521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.330977 # Actual altitude: 77.330977 # Commanded vehicle depth: 194.923521 # Seafloor depth: -272.254498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543498 meters # Minimum depth: 269.229016 meters looking forward 50.000000 meters along route # Maximum depth: 275.481987 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.229016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531195; longitude = -121.229554; captureRadius = 10; duration = 105; initialDepth = 189.829240; finalDepth = 194.229016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.330977 # Actual altitude: 77.330977 # Commanded vehicle depth: 194.229016 # Seafloor depth: -269.229016 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543421 meters # Minimum depth: 264.829240 meters looking forward 50.000000 meters along route # Maximum depth: 272.776526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.829240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531340; longitude = -121.229003; captureRadius = 10; duration = 105; initialDepth = 187.097844; finalDepth = 189.829240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.947286 # Actual altitude: 82.947286 # Commanded vehicle depth: 189.82924 # Seafloor depth: -272.776526 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 331.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543347 meters # Minimum depth: 262.097844 meters looking forward 50.000000 meters along route # Maximum depth: 268.078534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.097844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531486; longitude = -121.228451; captureRadius = 10; duration = 105; initialDepth = 184.702229; finalDepth = 187.097844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.947286 # Actual altitude: 82.947286 # Commanded vehicle depth: 187.097844 # Seafloor depth: -268.078534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 331.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543270 meters # Minimum depth: 259.702229 meters looking forward 50.000000 meters along route # Maximum depth: 265.138108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.702229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531632; longitude = -121.227900; captureRadius = 10; duration = 105; initialDepth = 185.883621; finalDepth = 184.702229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.98069 # Actual altitude: 80.98069 # Commanded vehicle depth: 184.702229 # Seafloor depth: -261.209139 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.29; MB_Bottom_Detect_Filter_Max_Range = 323.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 53.434104 meters # Minimum depth: 260.883621 meters looking forward 50.000000 meters along route # Maximum depth: 265.373750 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.883621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531778; longitude = -121.227349; captureRadius = 10; duration = 106; initialDepth = 174.757980; finalDepth = 185.883621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.463862 # Actual altitude: 79.463862 # Commanded vehicle depth: 185.883621 # Seafloor depth: -265.347483 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 317.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 51.652211 meters # Minimum depth: 249.757980 meters looking forward 50.000000 meters along route # Maximum depth: 260.931653 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.757980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531926; longitude = -121.226788; captureRadius = 10; duration = 103; initialDepth = 181.372093; finalDepth = 174.757980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.169636 # Actual altitude: 86.169636 # Commanded vehicle depth: 174.75798 # Seafloor depth: -260.927616 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 344.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.543043 meters # Minimum depth: 256.372093 meters looking forward 50.000000 meters along route # Maximum depth: 261.017356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.372093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532070; longitude = -121.226247; captureRadius = 10; duration = 105; initialDepth = 177.961943; finalDepth = 181.372093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.169636 # Actual altitude: 86.169636 # Commanded vehicle depth: 181.372093 # Seafloor depth: -261.017356 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 344.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542969 meters # Minimum depth: 252.961943 meters looking forward 50.000000 meters along route # Maximum depth: 261.696459 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.961943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532215; longitude = -121.225695; captureRadius = 10; duration = 105; initialDepth = 177.858681; finalDepth = 177.961943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.713689 # Actual altitude: 81.713689 # Commanded vehicle depth: 177.961943 # Seafloor depth: -259.675632 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 326.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 54.368047 meters # Minimum depth: 252.858681 meters looking forward 50.000000 meters along route # Maximum depth: 254.919130 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.858681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532361; longitude = -121.225144; captureRadius = 10; duration = 108; initialDepth = 177.333879; finalDepth = 177.858681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.713689 # Actual altitude: 81.713689 # Commanded vehicle depth: 177.858681 # Seafloor depth: -253.244687 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 326.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 50.717662 meters # Minimum depth: 252.333879 meters looking forward 50.000000 meters along route # Maximum depth: 257.988725 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.333879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532512; longitude = -121.224574; captureRadius = 10; duration = 101; initialDepth = 167.262794; finalDepth = 177.333879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.731266 # Actual altitude: 75.731266 # Commanded vehicle depth: 177.333879 # Seafloor depth: -253.065145 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542742 meters # Minimum depth: 242.262794 meters looking forward 50.000000 meters along route # Maximum depth: 254.142732 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.262794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532653; longitude = -121.224042; captureRadius = 10; duration = 105; initialDepth = 167.974796; finalDepth = 167.262794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.879938 # Actual altitude: 86.879938 # Commanded vehicle depth: 167.262794 # Seafloor depth: -254.142732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 347.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542665 meters # Minimum depth: 242.974796 meters looking forward 50.000000 meters along route # Maximum depth: 252.397087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.974796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532799; longitude = -121.223490; captureRadius = 10; duration = 105; initialDepth = 167.171461; finalDepth = 167.974796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.879938 # Actual altitude: 86.879938 # Commanded vehicle depth: 167.974796 # Seafloor depth: -245.514534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 347.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542591 meters # Minimum depth: 242.171461 meters looking forward 50.000000 meters along route # Maximum depth: 251.464907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.171461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532945; longitude = -121.222939; captureRadius = 10; duration = 105; initialDepth = 168.385271; finalDepth = 167.171461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.539738 # Actual altitude: 77.539738 # Commanded vehicle depth: 167.171461 # Seafloor depth: -242.171461 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 310.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542514 meters # Minimum depth: 243.385271 meters looking forward 50.000000 meters along route # Maximum depth: 247.052205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.385271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533090; longitude = -121.222388; captureRadius = 10; duration = 105; initialDepth = 165.411671; finalDepth = 168.385271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.666934 # Actual altitude: 78.666934 # Commanded vehicle depth: 168.385271 # Seafloor depth: -247.052205 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542440 meters # Minimum depth: 240.411671 meters looking forward 50.000000 meters along route # Maximum depth: 243.196943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 165.411671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533236; longitude = -121.221837; captureRadius = 10; duration = 105; initialDepth = 165.484419; finalDepth = 165.411671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.666934 # Actual altitude: 78.666934 # Commanded vehicle depth: 165.411671 # Seafloor depth: -243.196943 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 52.542363 meters # Minimum depth: 240.484419 meters looking forward 50.000000 meters along route # Maximum depth: 244.430767 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 165.484419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533382; longitude = -121.221285; captureRadius = 10; duration = 105; initialDepth = 155.756963; finalDepth = 165.484419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.785272 # Actual altitude: 77.785272 # Commanded vehicle depth: 165.484419 # Seafloor depth: -241.878145 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 50.810770 meters # Minimum depth: 230.756963 meters looking forward 50.000000 meters along route # Maximum depth: 240.283989 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 155.756963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533528; longitude = -121.220734; captureRadius = 10; duration = 101; initialDepth = 161.207909; finalDepth = 155.756963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.527026 # Actual altitude: 84.527026 # Commanded vehicle depth: 155.756963 # Seafloor depth: -240.283989 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 338.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 88.316798 meters # Minimum depth: 236.207909 meters looking forward 50.000000 meters along route # Maximum depth: 241.073542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 161.207909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533669; longitude = -121.220201; captureRadius = 10; duration = 176; # abortOnTimeout = True; initialDepth = 164.030186; finalDepth = 161.207909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.527026 # Actual altitude: 84.527026 # Commanded vehicle depth: 161.207909 # Seafloor depth: -236.207909 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 338.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.992517 meters # Minimum depth: 239.030186 meters looking forward 50.000000 meters along route # Maximum depth: 244.498166 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 164.030186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532918; longitude = -121.219879; captureRadius = 10; duration = 105; initialDepth = 166.033515; finalDepth = 164.030186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 164.030186 # Seafloor depth: -239.030186 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 54.802160 meters # Minimum depth: 241.033515 meters looking forward 50.000000 meters along route # Maximum depth: 243.707853 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 166.033515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532467; longitude = -121.219685; captureRadius = 10; duration = 109; initialDepth = 167.317017; finalDepth = 166.033515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.549832 # Actual altitude: 76.549832 # Commanded vehicle depth: 166.033515 # Seafloor depth: -242.583347 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 50.870951 meters # Minimum depth: 242.317017 meters looking forward 50.000000 meters along route # Maximum depth: 244.321951 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.317017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532001; longitude = -121.219485; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 169.350795; finalDepth = 167.317017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.549832 # Actual altitude: 76.549832 # Commanded vehicle depth: 167.317017 # Seafloor depth: -242.317017 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.941095 meters # Minimum depth: 244.350795 meters looking forward 50.000000 meters along route # Maximum depth: 247.616484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.350795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531857; longitude = -121.220017; captureRadius = 10; duration = 109; initialDepth = 172.952433; finalDepth = 169.350795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 169.350795 # Seafloor depth: -244.350795 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.390119 meters # Minimum depth: 247.952433 meters looking forward 50.000000 meters along route # Maximum depth: 250.566494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.952433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531701; longitude = -121.220593; captureRadius = 10; duration = 100; initialDepth = 171.626865; finalDepth = 172.952433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 172.952433 # Seafloor depth: -247.952433 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.665723 meters # Minimum depth: 246.626865 meters looking forward 50.000000 meters along route # Maximum depth: 254.863100 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 171.626865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531558; longitude = -121.221120; captureRadius = 10; duration = 105; initialDepth = 179.293589; finalDepth = 171.626865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.08019 # Actual altitude: 78.08019 # Commanded vehicle depth: 171.626865 # Seafloor depth: -249.707055 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.665800 meters # Minimum depth: 254.293589 meters looking forward 50.000000 meters along route # Maximum depth: 259.263383 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.293589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531409; longitude = -121.221671; captureRadius = 10; duration = 105; initialDepth = 171.942011; finalDepth = 179.293589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.159979 # Actual altitude: 79.159979 # Commanded vehicle depth: 179.293589 # Seafloor depth: -258.453568 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.665878 meters # Minimum depth: 246.942011 meters looking forward 50.000000 meters along route # Maximum depth: 256.979149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 171.942011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531259; longitude = -121.222222; captureRadius = 10; duration = 105; initialDepth = 178.591120; finalDepth = 171.942011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.34282 # Actual altitude: 82.34282 # Commanded vehicle depth: 171.942011 # Seafloor depth: -254.284831 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.665955 meters # Minimum depth: 253.591120 meters looking forward 50.000000 meters along route # Maximum depth: 258.827719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.591120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531110; longitude = -121.222774; captureRadius = 10; duration = 105; initialDepth = 181.318888; finalDepth = 178.591120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.34282 # Actual altitude: 82.34282 # Commanded vehicle depth: 178.59112 # Seafloor depth: -253.591120 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666032 meters # Minimum depth: 256.318888 meters looking forward 50.000000 meters along route # Maximum depth: 260.437015 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.318888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530960; longitude = -121.223325; captureRadius = 10; duration = 105; initialDepth = 180.825596; finalDepth = 181.318888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.889112 # Actual altitude: 76.889112 # Commanded vehicle depth: 181.318888 # Seafloor depth: -258.208000 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666110 meters # Minimum depth: 255.825596 meters looking forward 50.000000 meters along route # Maximum depth: 262.663696 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.825596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530811; longitude = -121.223876; captureRadius = 10; duration = 105; initialDepth = 180.821059; finalDepth = 180.825596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.654199 # Actual altitude: 80.654199 # Commanded vehicle depth: 180.825596 # Seafloor depth: -261.479795 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666188 meters # Minimum depth: 255.821059 meters looking forward 50.000000 meters along route # Maximum depth: 256.885538 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.821059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530662; longitude = -121.224427; captureRadius = 10; duration = 105; initialDepth = 182.016118; finalDepth = 180.821059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.654199 # Actual altitude: 80.654199 # Commanded vehicle depth: 180.821059 # Seafloor depth: -255.821059 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666264 meters # Minimum depth: 257.016118 meters looking forward 50.000000 meters along route # Maximum depth: 258.330939 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.016118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530512; longitude = -121.224979; captureRadius = 10; duration = 105; initialDepth = 183.533847; finalDepth = 182.016118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 182.016118 # Seafloor depth: -257.016118 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.697303 meters # Minimum depth: 258.533847 meters looking forward 50.000000 meters along route # Maximum depth: 260.059823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.533847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530363; longitude = -121.225530; captureRadius = 10; duration = 105; initialDepth = 185.061069; finalDepth = 183.533847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 183.533847 # Seafloor depth: -258.533847 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.635459 meters # Minimum depth: 260.061069 meters looking forward 50.000000 meters along route # Maximum depth: 261.855948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.061069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530214; longitude = -121.226081; captureRadius = 10; duration = 105; initialDepth = 187.009370; finalDepth = 185.061069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 185.061069 # Seafloor depth: -260.061069 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666498 meters # Minimum depth: 262.009370 meters looking forward 50.000000 meters along route # Maximum depth: 263.669667 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.009370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530064; longitude = -121.226632; captureRadius = 10; duration = 105; initialDepth = 189.154967; finalDepth = 187.009370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 187.00937 # Seafloor depth: -262.009370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 53.613308 meters # Minimum depth: 264.154967 meters looking forward 50.000000 meters along route # Maximum depth: 272.140448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.154967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529915; longitude = -121.227184; captureRadius = 10; duration = 107; initialDepth = 194.053672; finalDepth = 189.154967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 189.154967 # Seafloor depth: -264.154967 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.719918 meters # Minimum depth: 269.053672 meters looking forward 50.000000 meters along route # Maximum depth: 273.985895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.053672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529763; longitude = -121.227745; captureRadius = 10; duration = 103; initialDepth = 196.606705; finalDepth = 194.053672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 194.053672 # Seafloor depth: -269.053672 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666730 meters # Minimum depth: 271.606705 meters looking forward 50.000000 meters along route # Maximum depth: 276.970943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.606705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529616; longitude = -121.228286; captureRadius = 10; duration = 105; initialDepth = 202.791721; finalDepth = 196.606705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.510092 # Actual altitude: 77.510092 # Commanded vehicle depth: 196.606705 # Seafloor depth: -274.116797 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 310.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 54.529322 meters # Minimum depth: 277.791721 meters looking forward 50.000000 meters along route # Maximum depth: 279.475538 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.791721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529467; longitude = -121.228837; captureRadius = 10; duration = 109; initialDepth = 199.808897; finalDepth = 202.791721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.510092 # Actual altitude: 77.510092 # Commanded vehicle depth: 202.791721 # Seafloor depth: -278.579773 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 310.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.804369 meters # Minimum depth: 274.808897 meters looking forward 50.000000 meters along route # Maximum depth: 279.062539 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.808897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529312; longitude = -121.229408; captureRadius = 10; duration = 101; initialDepth = 200.510557; finalDepth = 199.808897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.79373 # Actual altitude: 78.79373 # Commanded vehicle depth: 199.808897 # Seafloor depth: -278.602627 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.666962 meters # Minimum depth: 275.510557 meters looking forward 50.000000 meters along route # Maximum depth: 278.588218 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.510557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529168; longitude = -121.229940; captureRadius = 10; duration = 105; initialDepth = 203.400875; finalDepth = 200.510557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.79373 # Actual altitude: 78.79373 # Commanded vehicle depth: 200.510557 # Seafloor depth: -276.833675 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.667040 meters # Minimum depth: 278.400875 meters looking forward 50.000000 meters along route # Maximum depth: 282.402902 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.400875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529019; longitude = -121.230491; captureRadius = 10; duration = 105; initialDepth = 202.701431; finalDepth = 203.400875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.323118 # Actual altitude: 76.323118 # Commanded vehicle depth: 203.400875 # Seafloor depth: -278.627731 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.667117 meters # Minimum depth: 277.701431 meters looking forward 50.000000 meters along route # Maximum depth: 282.745438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.701431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528869; longitude = -121.231042; captureRadius = 10; duration = 105; initialDepth = 198.741704; finalDepth = 202.701431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.044007 # Actual altitude: 80.044007 # Commanded vehicle depth: 202.701431 # Seafloor depth: -282.745438 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 320.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 52.667194 meters # Minimum depth: 273.741704 meters looking forward 50.000000 meters along route # Maximum depth: 284.834757 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.741704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528720; longitude = -121.231594; captureRadius = 10; duration = 105; initialDepth = 208.069555; finalDepth = 198.741704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.044007 # Actual altitude: 80.044007 # Commanded vehicle depth: 198.741704 # Seafloor depth: -277.242226 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 320.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.940650 meters # Minimum depth: 283.069555 meters looking forward 50.000000 meters along route # Maximum depth: 290.334066 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 208.069555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528570; longitude = -121.232145; captureRadius = 10; duration = 101; initialDepth = 213.217849; finalDepth = 208.069555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.500522 # Actual altitude: 78.500522 # Commanded vehicle depth: 208.069555 # Seafloor depth: -284.271275 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 314.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 44.082270 meters # Minimum depth: 288.217849 meters looking forward 50.000000 meters along route # Maximum depth: 290.334066 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.217849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528426; longitude = -121.232678; captureRadius = 10; duration = 88; # abortOnTimeout = True; initialDepth = 212.572823; finalDepth = 213.217849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.603989 # Actual altitude: 76.603989 # Commanded vehicle depth: 213.217849 # Seafloor depth: -289.821838 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.849480 meters # Minimum depth: 287.572823 meters looking forward 50.000000 meters along route # Maximum depth: 289.717687 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.572823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528050; longitude = -121.232521; captureRadius = 10; duration = 105; initialDepth = 211.166771; finalDepth = 212.572823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.603989 # Actual altitude: 76.603989 # Commanded vehicle depth: 212.572823 # Seafloor depth: -288.557133 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.849512 meters # Minimum depth: 286.166771 meters looking forward 50.000000 meters along route # Maximum depth: 289.293029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 211.166771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527599; longitude = -121.232332; captureRadius = 10; duration = 105; initialDepth = 212.884228; finalDepth = 211.166771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.126258 # Actual altitude: 78.126258 # Commanded vehicle depth: 211.166771 # Seafloor depth: -289.293029 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 51.077476 meters # Minimum depth: 287.884228 meters looking forward 50.000000 meters along route # Maximum depth: 292.071012 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.884228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527149; longitude = -121.232143; captureRadius = 10; duration = 102; initialDepth = 213.750618; finalDepth = 212.884228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 78.126258 # Actual altitude: 78.126258 # Commanded vehicle depth: 212.884228 # Seafloor depth: -287.884228 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 50.779629 meters # Minimum depth: 288.750618 meters looking forward 50.000000 meters along route # Maximum depth: 290.237358 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.750618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526713; longitude = -121.231961; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 210.577791; finalDepth = 213.750618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.48674 # Actual altitude: 76.48674 # Commanded vehicle depth: 213.750618 # Seafloor depth: -290.237358 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.538445 meters # Minimum depth: 285.577791 meters looking forward 50.000000 meters along route # Maximum depth: 288.249327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 210.577791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526854; longitude = -121.231428; captureRadius = 10; duration = 105; initialDepth = 208.801749; finalDepth = 210.577791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.671536 # Actual altitude: 77.671536 # Commanded vehicle depth: 210.577791 # Seafloor depth: -288.249327 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.69; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 53.851988 meters # Minimum depth: 283.801749 meters looking forward 50.000000 meters along route # Maximum depth: 288.328712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 208.801749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526999; longitude = -121.230877; captureRadius = 10; duration = 107; initialDepth = 206.050741; finalDepth = 208.801749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.526963 # Actual altitude: 79.526963 # Commanded vehicle depth: 208.801749 # Seafloor depth: -288.328712 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 51.224674 meters # Minimum depth: 281.050741 meters looking forward 50.000000 meters along route # Maximum depth: 287.591201 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.050741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527149; longitude = -121.230312; captureRadius = 10; duration = 102; initialDepth = 203.835407; finalDepth = 206.050741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.54046 # Actual altitude: 81.54046 # Commanded vehicle depth: 206.050741 # Seafloor depth: -287.591201 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.538219 meters # Minimum depth: 278.835407 meters looking forward 50.000000 meters along route # Maximum depth: 284.919225 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.835407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527291; longitude = -121.229774; captureRadius = 10; duration = 105; initialDepth = 205.875572; finalDepth = 203.835407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.54046 # Actual altitude: 81.54046 # Commanded vehicle depth: 203.835407 # Seafloor depth: -280.946186 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.538142 meters # Minimum depth: 280.875572 meters looking forward 50.000000 meters along route # Maximum depth: 283.143917 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.875572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527436; longitude = -121.229223; captureRadius = 10; duration = 105; initialDepth = 202.121266; finalDepth = 205.875572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.110779 # Actual altitude: 77.110779 # Commanded vehicle depth: 205.875572 # Seafloor depth: -280.875572 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.538067 meters # Minimum depth: 277.121266 meters looking forward 50.000000 meters along route # Maximum depth: 282.670814 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.121266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527582; longitude = -121.228672; captureRadius = 10; duration = 105; initialDepth = 201.495413; finalDepth = 202.121266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.031503 # Actual altitude: 78.031503 # Commanded vehicle depth: 202.121266 # Seafloor depth: -280.152769 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 312.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537992 meters # Minimum depth: 276.495413 meters looking forward 50.000000 meters along route # Maximum depth: 280.241376 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.495413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527727; longitude = -121.228121; captureRadius = 10; duration = 105; initialDepth = 199.698058; finalDepth = 201.495413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.745963 # Actual altitude: 78.745963 # Commanded vehicle depth: 201.495413 # Seafloor depth: -280.241376 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 314.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537916 meters # Minimum depth: 274.698058 meters looking forward 50.000000 meters along route # Maximum depth: 279.331243 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.698058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527873; longitude = -121.227570; captureRadius = 10; duration = 105; initialDepth = 194.174453; finalDepth = 199.698058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.745963 # Actual altitude: 78.745963 # Commanded vehicle depth: 199.698058 # Seafloor depth: -278.177662 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 314.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537841 meters # Minimum depth: 269.174453 meters looking forward 50.000000 meters along route # Maximum depth: 273.578089 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.174453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528019; longitude = -121.227018; captureRadius = 10; duration = 105; initialDepth = 192.438312; finalDepth = 194.174453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4036359999999 # Actual altitude: 79.4036359999999 # Commanded vehicle depth: 194.174453 # Seafloor depth: -273.578089 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537765 meters # Minimum depth: 267.438312 meters looking forward 50.000000 meters along route # Maximum depth: 268.902120 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.438312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528164; longitude = -121.226467; captureRadius = 10; duration = 105; initialDepth = 190.554368; finalDepth = 192.438312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4036359999999 # Actual altitude: 79.4036359999999 # Commanded vehicle depth: 192.438312 # Seafloor depth: -268.902120 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.611664 meters # Minimum depth: 265.554368 meters looking forward 50.000000 meters along route # Maximum depth: 267.284672 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.554368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528310; longitude = -121.225916; captureRadius = 10; duration = 105; initialDepth = 188.964173; finalDepth = 190.554368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.730304 # Actual altitude: 76.730304 # Commanded vehicle depth: 190.554368 # Seafloor depth: -267.284672 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.463640 meters # Minimum depth: 263.964173 meters looking forward 50.000000 meters along route # Maximum depth: 265.551843 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.964173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528456; longitude = -121.225364; captureRadius = 10; duration = 104; initialDepth = 187.902068; finalDepth = 188.964173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.730304 # Actual altitude: 76.730304 # Commanded vehicle depth: 188.964173 # Seafloor depth: -265.551843 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537538 meters # Minimum depth: 262.902068 meters looking forward 50.000000 meters along route # Maximum depth: 264.615847 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.902068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528601; longitude = -121.224813; captureRadius = 10; duration = 105; initialDepth = 189.483511; finalDepth = 187.902068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.58767 # Actual altitude: 76.58767 # Commanded vehicle depth: 187.902068 # Seafloor depth: -263.841831 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537464 meters # Minimum depth: 264.483511 meters looking forward 50.000000 meters along route # Maximum depth: 267.395362 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.483511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528747; longitude = -121.224262; captureRadius = 10; duration = 105; initialDepth = 187.876016; finalDepth = 189.483511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.939763 # Actual altitude: 75.939763 # Commanded vehicle depth: 189.483511 # Seafloor depth: -264.965490 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 53.867302 meters # Minimum depth: 262.876016 meters looking forward 50.000000 meters along route # Maximum depth: 265.179619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.876016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528892; longitude = -121.223711; captureRadius = 10; duration = 107; initialDepth = 185.735970; finalDepth = 187.876016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.598111 # Actual altitude: 76.598111 # Commanded vehicle depth: 187.876016 # Seafloor depth: -264.474127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 51.207398 meters # Minimum depth: 260.735970 meters looking forward 50.000000 meters along route # Maximum depth: 264.183375 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.735970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529042; longitude = -121.223146; captureRadius = 10; duration = 102; initialDepth = 176.859093; finalDepth = 185.735970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.447405 # Actual altitude: 78.447405 # Commanded vehicle depth: 185.73597 # Seafloor depth: -264.183375 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 313.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537237 meters # Minimum depth: 251.859093 meters looking forward 50.000000 meters along route # Maximum depth: 262.351882 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.859093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529184; longitude = -121.222608; captureRadius = 10; duration = 105; initialDepth = 177.369835; finalDepth = 176.859093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.819119 # Actual altitude: 84.819119 # Commanded vehicle depth: 176.859093 # Seafloor depth: -261.678212 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 339.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537161 meters # Minimum depth: 252.369835 meters looking forward 50.000000 meters along route # Maximum depth: 260.477831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.369835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529329; longitude = -121.222057; captureRadius = 10; duration = 105; initialDepth = 179.386283; finalDepth = 177.369835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.819119 # Actual altitude: 84.819119 # Commanded vehicle depth: 177.369835 # Seafloor depth: -252.369835 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 339.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537086 meters # Minimum depth: 254.386283 meters looking forward 50.000000 meters along route # Maximum depth: 262.121537 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.386283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529475; longitude = -121.221506; captureRadius = 10; duration = 105; initialDepth = 178.906680; finalDepth = 179.386283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.618977 # Actual altitude: 76.618977 # Commanded vehicle depth: 179.386283 # Seafloor depth: -256.005260 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 306.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.537011 meters # Minimum depth: 253.906680 meters looking forward 50.000000 meters along route # Maximum depth: 257.824253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.906680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529620; longitude = -121.220955; captureRadius = 10; duration = 105; initialDepth = 176.970384; finalDepth = 178.906680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.340283 # Actual altitude: 77.340283 # Commanded vehicle depth: 178.90668 # Seafloor depth: -256.246963 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.536935 meters # Minimum depth: 251.970384 meters looking forward 50.000000 meters along route # Maximum depth: 256.172163 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 176.970384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529766; longitude = -121.220403; captureRadius = 10; duration = 105; initialDepth = 172.767649; finalDepth = 176.970384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.340283 # Actual altitude: 77.340283 # Commanded vehicle depth: 176.970384 # Seafloor depth: -254.010959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.536860 meters # Minimum depth: 247.767649 meters looking forward 50.000000 meters along route # Maximum depth: 254.560864 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.767649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529912; longitude = -121.219852; captureRadius = 10; duration = 105; initialDepth = 174.403829; finalDepth = 172.767649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.793215 # Actual altitude: 81.793215 # Commanded vehicle depth: 172.767649 # Seafloor depth: -254.560864 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 50.783118 meters # Minimum depth: 249.403829 meters looking forward 50.000000 meters along route # Maximum depth: 252.700842 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.403829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530057; longitude = -121.219301; captureRadius = 10; duration = 101; initialDepth = 173.794920; finalDepth = 174.403829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.793215 # Actual altitude: 81.793215 # Commanded vehicle depth: 174.403829 # Seafloor depth: -249.695579 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 40.463691 meters # Minimum depth: 248.794920 meters looking forward 50.000000 meters along route # Maximum depth: 252.389515 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 173.794920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530198; longitude = -121.218768; captureRadius = 10; duration = 80; # abortOnTimeout = True; initialDepth = 170.130304; finalDepth = 173.794920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.231577 # Actual altitude: 78.231577 # Commanded vehicle depth: 173.79492 # Seafloor depth: -252.026497 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.852870 meters # Minimum depth: 245.130304 meters looking forward 50.000000 meters along route # Maximum depth: 256.935257 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 170.130304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529853; longitude = -121.218623; captureRadius = 10; duration = 105; initialDepth = 172.937007; finalDepth = 170.130304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.035151 # Actual altitude: 82.035151 # Commanded vehicle depth: 170.130304 # Seafloor depth: -252.165455 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.852902 meters # Minimum depth: 247.937007 meters looking forward 50.000000 meters along route # Maximum depth: 255.116381 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.937007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529402; longitude = -121.218435; captureRadius = 10; duration = 105; initialDepth = 179.044815; finalDepth = 172.937007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.035151 # Actual altitude: 82.035151 # Commanded vehicle depth: 172.937007 # Seafloor depth: -254.248599 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 54.584903 meters # Minimum depth: 254.044815 meters looking forward 50.000000 meters along route # Maximum depth: 258.180640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.044815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528951; longitude = -121.218246; captureRadius = 10; duration = 109; initialDepth = 179.372585; finalDepth = 179.044815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 81.311592 # Actual altitude: 81.311592 # Commanded vehicle depth: 179.044815 # Seafloor depth: -255.908459 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 325.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 71.812052 meters # Minimum depth: 254.372585 meters looking forward 50.000000 meters along route # Maximum depth: 256.109604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.372585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528486; longitude = -121.218051; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 180.847396; finalDepth = 179.372585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.863644 # Actual altitude: 76.863644 # Commanded vehicle depth: 179.372585 # Seafloor depth: -256.109604 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 307.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.351880 meters # Minimum depth: 255.847396 meters looking forward 50.000000 meters along route # Maximum depth: 259.121039 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.847396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528288; longitude = -121.218805; captureRadius = 10; duration = 106; initialDepth = 179.686419; finalDepth = 180.847396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.737019 # Actual altitude: 76.737019 # Commanded vehicle depth: 180.847396 # Seafloor depth: -256.629162 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 51.689370 meters # Minimum depth: 254.686419 meters looking forward 50.000000 meters along route # Maximum depth: 263.654213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.686419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528140; longitude = -121.219365; captureRadius = 10; duration = 103; initialDepth = 180.772395; finalDepth = 179.686419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.083046 # Actual altitude: 79.083046 # Commanded vehicle depth: 179.686419 # Seafloor depth: -258.769465 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.520738 meters # Minimum depth: 255.772395 meters looking forward 50.000000 meters along route # Maximum depth: 261.684435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.772395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527997; longitude = -121.219907; captureRadius = 10; duration = 105; initialDepth = 181.967035; finalDepth = 180.772395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.300904 # Actual altitude: 80.300904 # Commanded vehicle depth: 180.772395 # Seafloor depth: -261.073299 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 321.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.520813 meters # Minimum depth: 256.967035 meters looking forward 50.000000 meters along route # Maximum depth: 263.052954 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.967035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527852; longitude = -121.220458; captureRadius = 10; duration = 105; initialDepth = 186.210517; finalDepth = 181.967035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.300904 # Actual altitude: 80.300904 # Commanded vehicle depth: 181.967035 # Seafloor depth: -257.952389 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 321.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.520888 meters # Minimum depth: 261.210517 meters looking forward 50.000000 meters along route # Maximum depth: 266.041665 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.210517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527707; longitude = -121.221010; captureRadius = 10; duration = 105; initialDepth = 190.006660; finalDepth = 186.210517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.120076 # Actual altitude: 77.120076 # Commanded vehicle depth: 186.210517 # Seafloor depth: -263.330593 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.520963 meters # Minimum depth: 265.006660 meters looking forward 50.000000 meters along route # Maximum depth: 267.003978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.006660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527562; longitude = -121.221561; captureRadius = 10; duration = 105; initialDepth = 189.262936; finalDepth = 190.006660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.120076 # Actual altitude: 77.120076 # Commanded vehicle depth: 190.00666 # Seafloor depth: -266.507005 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521039 meters # Minimum depth: 264.262936 meters looking forward 50.000000 meters along route # Maximum depth: 268.375571 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.262936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527417; longitude = -121.222112; captureRadius = 10; duration = 105; initialDepth = 193.374548; finalDepth = 189.262936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.909795 # Actual altitude: 77.909795 # Commanded vehicle depth: 189.262936 # Seafloor depth: -267.172731 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521114 meters # Minimum depth: 268.374548 meters looking forward 50.000000 meters along route # Maximum depth: 279.139879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.374548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527272; longitude = -121.222663; captureRadius = 10; duration = 105; initialDepth = 191.657565; finalDepth = 193.374548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.909795 # Actual altitude: 77.909795 # Commanded vehicle depth: 193.374548 # Seafloor depth: -268.374548 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521189 meters # Minimum depth: 266.657565 meters looking forward 50.000000 meters along route # Maximum depth: 272.523406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.657565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527127; longitude = -121.223215; captureRadius = 10; duration = 105; initialDepth = 194.211919; finalDepth = 191.657565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.865841 # Actual altitude: 80.865841 # Commanded vehicle depth: 191.657565 # Seafloor depth: -272.523406 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 53.766053 meters # Minimum depth: 269.211919 meters looking forward 50.000000 meters along route # Maximum depth: 274.346147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.211919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526982; longitude = -121.223766; captureRadius = 10; duration = 107; initialDepth = 197.227607; finalDepth = 194.211919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.865841 # Actual altitude: 80.865841 # Commanded vehicle depth: 194.211919 # Seafloor depth: -271.100516 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 51.276550 meters # Minimum depth: 272.227607 meters looking forward 50.000000 meters along route # Maximum depth: 274.685625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.227607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526833; longitude = -121.224330; captureRadius = 10; duration = 102; initialDepth = 197.006000; finalDepth = 197.227607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.184938 # Actual altitude: 77.184938 # Commanded vehicle depth: 197.227607 # Seafloor depth: -274.412545 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521415 meters # Minimum depth: 272.006000 meters looking forward 50.000000 meters along route # Maximum depth: 276.034614 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 197.006000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526691; longitude = -121.224868; captureRadius = 10; duration = 105; initialDepth = 193.675797; finalDepth = 197.006000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.184938 # Actual altitude: 77.184938 # Commanded vehicle depth: 197.006 # Seafloor depth: -272.006000 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521489 meters # Minimum depth: 268.675797 meters looking forward 50.000000 meters along route # Maximum depth: 275.724715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.675797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526546; longitude = -121.225420; captureRadius = 10; duration = 105; initialDepth = 200.310739; finalDepth = 193.675797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.048918 # Actual altitude: 82.048918 # Commanded vehicle depth: 193.675797 # Seafloor depth: -275.724715 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521565 meters # Minimum depth: 275.310739 meters looking forward 50.000000 meters along route # Maximum depth: 278.521806 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.310739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526401; longitude = -121.225971; captureRadius = 10; duration = 105; initialDepth = 203.006484; finalDepth = 200.310739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.048918 # Actual altitude: 82.048918 # Commanded vehicle depth: 200.310739 # Seafloor depth: -275.310739 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521640 meters # Minimum depth: 278.006484 meters looking forward 50.000000 meters along route # Maximum depth: 281.535752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.006484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526256; longitude = -121.226522; captureRadius = 10; duration = 105; initialDepth = 203.535382; finalDepth = 203.006484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.13338 # Actual altitude: 75.13338 # Commanded vehicle depth: 203.006484 # Seafloor depth: -278.139864 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521716 meters # Minimum depth: 278.535382 meters looking forward 50.000000 meters along route # Maximum depth: 281.211351 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.535382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526111; longitude = -121.227073; captureRadius = 10; duration = 105; initialDepth = 202.824546; finalDepth = 203.535382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.535069 # Actual altitude: 76.535069 # Commanded vehicle depth: 203.535382 # Seafloor depth: -280.070451 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521790 meters # Minimum depth: 277.824546 meters looking forward 50.000000 meters along route # Maximum depth: 281.104484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.824546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525966; longitude = -121.227625; captureRadius = 10; duration = 105; initialDepth = 207.647259; finalDepth = 202.824546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.535069 # Actual altitude: 76.535069 # Commanded vehicle depth: 202.824546 # Seafloor depth: -278.816205 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.521866 meters # Minimum depth: 282.647259 meters looking forward 50.000000 meters along route # Maximum depth: 291.050894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.647259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525821; longitude = -121.228176; captureRadius = 10; duration = 105; initialDepth = 215.707973; finalDepth = 207.647259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.991659 # Actual altitude: 75.991659 # Commanded vehicle depth: 207.647259 # Seafloor depth: -282.647259 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 303.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 54.180238 meters # Minimum depth: 290.707973 meters looking forward 50.000000 meters along route # Maximum depth: 295.182883 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.707973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525676; longitude = -121.228727; captureRadius = 10; duration = 108; initialDepth = 213.469259; finalDepth = 215.707973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.144778 # Actual altitude: 77.144778 # Commanded vehicle depth: 215.707973 # Seafloor depth: -292.852751 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 50.863719 meters # Minimum depth: 288.469259 meters looking forward 50.000000 meters along route # Maximum depth: 290.522627 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.469259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525526; longitude = -121.229296; captureRadius = 10; duration = 101; initialDepth = 215.171279; finalDepth = 213.469259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.144778 # Actual altitude: 77.144778 # Commanded vehicle depth: 213.469259 # Seafloor depth: -290.473433 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.522091 meters # Minimum depth: 290.171279 meters looking forward 50.000000 meters along route # Maximum depth: 294.969864 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.171279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525385; longitude = -121.229830; captureRadius = 10; duration = 105; initialDepth = 214.065294; finalDepth = 215.171279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.004174 # Actual altitude: 77.004174 # Commanded vehicle depth: 215.171279 # Seafloor depth: -290.214651 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.522167 meters # Minimum depth: 289.065294 meters looking forward 50.000000 meters along route # Maximum depth: 298.180300 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.065294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525240; longitude = -121.230381; captureRadius = 10; duration = 105; initialDepth = 212.789245; finalDepth = 214.065294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.289754 # Actual altitude: 81.289754 # Commanded vehicle depth: 214.065294 # Seafloor depth: -295.355048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 325.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 50.775288 meters # Minimum depth: 287.789245 meters looking forward 50.000000 meters along route # Maximum depth: 296.456220 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.789245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525095; longitude = -121.230932; captureRadius = 10; duration = 101; initialDepth = 212.260448; finalDepth = 212.789245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.289754 # Actual altitude: 81.289754 # Commanded vehicle depth: 212.789245 # Seafloor depth: -287.789245 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 325.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 51.701377 meters # Minimum depth: 287.260448 meters looking forward 50.000000 meters along route # Maximum depth: 297.716936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.260448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524955; longitude = -121.231465; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 223.379544; finalDepth = 212.260448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.480015 # Actual altitude: 78.480015 # Commanded vehicle depth: 212.260448 # Seafloor depth: -290.740463 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.037086 meters # Minimum depth: 298.379544 meters looking forward 50.000000 meters along route # Maximum depth: 300.035944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.379544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524936; longitude = -121.232035; captureRadius = 10; duration = 100; initialDepth = 223.154881; finalDepth = 223.379544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.480015 # Actual altitude: 78.480015 # Commanded vehicle depth: 223.379544 # Seafloor depth: -299.073130 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037087 meters # Minimum depth: 298.154881 meters looking forward 50.000000 meters along route # Maximum depth: 300.797758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.154881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524917; longitude = -121.232586; captureRadius = 10; duration = 100; initialDepth = 220.765759; finalDepth = 223.154881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.351161 # Actual altitude: 77.351161 # Commanded vehicle depth: 223.154881 # Seafloor depth: -300.506042 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037089 meters # Minimum depth: 295.765759 meters looking forward 50.000000 meters along route # Maximum depth: 299.959037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.765759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524899; longitude = -121.233137; captureRadius = 10; duration = 100; initialDepth = 224.895366; finalDepth = 220.765759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.956116 # Actual altitude: 78.956116 # Commanded vehicle depth: 220.765759 # Seafloor depth: -299.721875 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037091 meters # Minimum depth: 299.895366 meters looking forward 50.000000 meters along route # Maximum depth: 308.697542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 224.895366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524880; longitude = -121.233688; captureRadius = 10; duration = 100; initialDepth = 222.752293; finalDepth = 224.895366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.956116 # Actual altitude: 78.956116 # Commanded vehicle depth: 224.895366 # Seafloor depth: -299.895366 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037092 meters # Minimum depth: 297.752293 meters looking forward 50.000000 meters along route # Maximum depth: 313.293026 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.752293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524861; longitude = -121.234240; captureRadius = 10; duration = 100; initialDepth = 227.222892; finalDepth = 222.752293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.307339 # Actual altitude: 90.307339 # Commanded vehicle depth: 222.752293 # Seafloor depth: -313.059632 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037094 meters # Minimum depth: 302.222892 meters looking forward 50.000000 meters along route # Maximum depth: 303.946826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.222892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524843; longitude = -121.234791; captureRadius = 10; duration = 100; initialDepth = 228.108110; finalDepth = 227.222892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.307339 # Actual altitude: 90.307339 # Commanded vehicle depth: 227.222892 # Seafloor depth: -303.946826 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037096 meters # Minimum depth: 303.108110 meters looking forward 50.000000 meters along route # Maximum depth: 305.463103 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 228.108110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524824; longitude = -121.235342; captureRadius = 10; duration = 100; initialDepth = 229.532643; finalDepth = 228.108110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.723934 # Actual altitude: 76.723934 # Commanded vehicle depth: 228.10811 # Seafloor depth: -303.108110 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037097 meters # Minimum depth: 304.532643 meters looking forward 50.000000 meters along route # Maximum depth: 306.898366 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 229.532643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524805; longitude = -121.235893; captureRadius = 10; duration = 100; initialDepth = 226.992531; finalDepth = 229.532643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.089303 # Actual altitude: 77.089303 # Commanded vehicle depth: 229.532643 # Seafloor depth: -306.621946 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 308.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037099 meters # Minimum depth: 301.992531 meters looking forward 50.000000 meters along route # Maximum depth: 307.238593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.992531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524787; longitude = -121.236445; captureRadius = 10; duration = 100; initialDepth = 226.514944; finalDepth = 226.992531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.682287 # Actual altitude: 77.682287 # Commanded vehicle depth: 226.992531 # Seafloor depth: -304.674818 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037101 meters # Minimum depth: 301.514944 meters looking forward 50.000000 meters along route # Maximum depth: 307.864419 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.514944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524768; longitude = -121.236996; captureRadius = 10; duration = 100; initialDepth = 218.672844; finalDepth = 226.514944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.098078 # Actual altitude: 81.098078 # Commanded vehicle depth: 226.514944 # Seafloor depth: -307.613022 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 324.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037102 meters # Minimum depth: 293.672844 meters looking forward 50.000000 meters along route # Maximum depth: 302.803135 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 218.672844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524749; longitude = -121.237547; captureRadius = 10; duration = 100; initialDepth = 230.068995; finalDepth = 218.672844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.098078 # Actual altitude: 81.098078 # Commanded vehicle depth: 218.672844 # Seafloor depth: -298.995810 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 324.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037104 meters # Minimum depth: 305.068995 meters looking forward 50.000000 meters along route # Maximum depth: 314.225921 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.068995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524731; longitude = -121.238098; captureRadius = 10; duration = 100; initialDepth = 221.630331; finalDepth = 230.068995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.322966 # Actual altitude: 80.322966 # Commanded vehicle depth: 230.068995 # Seafloor depth: -308.527635 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037106 meters # Minimum depth: 296.630331 meters looking forward 50.000000 meters along route # Maximum depth: 307.978928 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 221.630331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524712; longitude = -121.238650; captureRadius = 10; duration = 100; initialDepth = 233.721592; finalDepth = 221.630331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.219068 # Actual altitude: 82.219068 # Commanded vehicle depth: 221.630331 # Seafloor depth: -303.849399 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037108 meters # Minimum depth: 308.721592 meters looking forward 50.000000 meters along route # Maximum depth: 313.299215 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.721592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524694; longitude = -121.239201; captureRadius = 10; duration = 100; initialDepth = 236.742460; finalDepth = 233.721592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.219068 # Actual altitude: 82.219068 # Commanded vehicle depth: 233.721592 # Seafloor depth: -308.721592 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037109 meters # Minimum depth: 311.742460 meters looking forward 50.000000 meters along route # Maximum depth: 313.110249 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 236.742460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524675; longitude = -121.239752; captureRadius = 10; duration = 100; initialDepth = 236.066768; finalDepth = 236.742460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.367789 # Actual altitude: 76.367789 # Commanded vehicle depth: 236.74246 # Seafloor depth: -313.110249 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037111 meters # Minimum depth: 311.066768 meters looking forward 50.000000 meters along route # Maximum depth: 313.392437 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 236.066768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524656; longitude = -121.240303; captureRadius = 10; duration = 100; initialDepth = 238.359993; finalDepth = 236.066768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.367789 # Actual altitude: 76.367789 # Commanded vehicle depth: 236.066768 # Seafloor depth: -311.319539 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037113 meters # Minimum depth: 313.359993 meters looking forward 50.000000 meters along route # Maximum depth: 316.152916 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 238.359993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524638; longitude = -121.240854; captureRadius = 10; duration = 100; initialDepth = 241.274516; finalDepth = 238.359993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.252771 # Actual altitude: 75.252771 # Commanded vehicle depth: 238.359993 # Seafloor depth: -313.382726 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037114 meters # Minimum depth: 316.274516 meters looking forward 50.000000 meters along route # Maximum depth: 321.252976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.274516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524619; longitude = -121.241406; captureRadius = 10; duration = 100; initialDepth = 237.877375; finalDepth = 241.274516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.022733 # Actual altitude: 75.022733 # Commanded vehicle depth: 241.274516 # Seafloor depth: -316.274516 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037116 meters # Minimum depth: 312.877375 meters looking forward 50.000000 meters along route # Maximum depth: 320.456855 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 237.877375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524600; longitude = -121.241957; captureRadius = 10; duration = 100; initialDepth = 237.749902; finalDepth = 237.877375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.350381 # Actual altitude: 78.350381 # Commanded vehicle depth: 237.877375 # Seafloor depth: -316.227756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037118 meters # Minimum depth: 312.749902 meters looking forward 50.000000 meters along route # Maximum depth: 321.088444 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 237.749902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524582; longitude = -121.242508; captureRadius = 10; duration = 100; initialDepth = 241.261523; finalDepth = 237.749902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.350381 # Actual altitude: 78.350381 # Commanded vehicle depth: 237.749902 # Seafloor depth: -312.749902 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037119 meters # Minimum depth: 316.261523 meters looking forward 50.000000 meters along route # Maximum depth: 319.761492 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.261523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524563; longitude = -121.243059; captureRadius = 10; duration = 100; initialDepth = 242.675696; finalDepth = 241.261523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.499969 # Actual altitude: 78.499969 # Commanded vehicle depth: 241.261523 # Seafloor depth: -319.761492 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 314.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037122 meters # Minimum depth: 317.675696 meters looking forward 50.000000 meters along route # Maximum depth: 324.002675 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.675696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524545; longitude = -121.243611; captureRadius = 10; duration = 100; initialDepth = 242.565454; finalDepth = 242.675696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.499969 # Actual altitude: 78.499969 # Commanded vehicle depth: 242.675696 # Seafloor depth: -320.544659 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 314.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037123 meters # Minimum depth: 317.565454 meters looking forward 50.000000 meters along route # Maximum depth: 324.613773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.565454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524526; longitude = -121.244162; captureRadius = 10; duration = 100; initialDepth = 245.395661; finalDepth = 242.565454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.868963 # Actual altitude: 77.868963 # Commanded vehicle depth: 242.565454 # Seafloor depth: -317.641327 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 311.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037124 meters # Minimum depth: 320.395661 meters looking forward 50.000000 meters along route # Maximum depth: 324.216306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 245.395661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524507; longitude = -121.244713; captureRadius = 10; duration = 100; initialDepth = 247.752032; finalDepth = 245.395661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.095806 # Actual altitude: 75.095806 # Commanded vehicle depth: 245.395661 # Seafloor depth: -320.491467 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037127 meters # Minimum depth: 322.752032 meters looking forward 50.000000 meters along route # Maximum depth: 324.095836 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 247.752032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524489; longitude = -121.245264; captureRadius = 10; duration = 100; initialDepth = 248.961088; finalDepth = 247.752032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.324659 # Actual altitude: 76.324659 # Commanded vehicle depth: 247.752032 # Seafloor depth: -324.076691 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037128 meters # Minimum depth: 323.961088 meters looking forward 50.000000 meters along route # Maximum depth: 325.364974 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 248.961088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524470; longitude = -121.245816; captureRadius = 10; duration = 100; initialDepth = 249.974176; finalDepth = 248.961088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.324659 # Actual altitude: 76.324659 # Commanded vehicle depth: 248.961088 # Seafloor depth: -323.978035 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037130 meters # Minimum depth: 324.974176 meters looking forward 50.000000 meters along route # Maximum depth: 326.556971 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 249.974176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524451; longitude = -121.246367; captureRadius = 10; duration = 100; initialDepth = 252.102007; finalDepth = 249.974176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.016947 # Actual altitude: 75.016947 # Commanded vehicle depth: 249.974176 # Seafloor depth: -324.974176 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037132 meters # Minimum depth: 327.102007 meters looking forward 50.000000 meters along route # Maximum depth: 330.271878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 252.102007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524433; longitude = -121.246918; captureRadius = 10; duration = 100; initialDepth = 254.945745; finalDepth = 252.102007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 252.102007 # Seafloor depth: -327.102007 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037133 meters # Minimum depth: 329.945745 meters looking forward 50.000000 meters along route # Maximum depth: 331.583356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 254.945745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524414; longitude = -121.247469; captureRadius = 10; duration = 100; initialDepth = 256.550937; finalDepth = 254.945745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 254.945745 # Seafloor depth: -329.945745 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037136 meters # Minimum depth: 331.550937 meters looking forward 50.000000 meters along route # Maximum depth: 334.108679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.550937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524396; longitude = -121.248021; captureRadius = 10; duration = 100; initialDepth = 259.579354; finalDepth = 256.550937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 256.550937 # Seafloor depth: -331.550937 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 50.037137 meters # Minimum depth: 334.579354 meters looking forward 50.000000 meters along route # Maximum depth: 336.261111 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 259.579354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524377; longitude = -121.248572; captureRadius = 10; duration = 100; initialDepth = 261.321187; finalDepth = 259.579354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 259.579354 # Seafloor depth: -334.579354 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 51.705043 meters # Minimum depth: 336.321187 meters looking forward 50.000000 meters along route # Maximum depth: 339.579764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 261.321187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524358; longitude = -121.249123; captureRadius = 10; duration = 103; initialDepth = 262.027534; finalDepth = 261.321187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 261.321187 # Seafloor depth: -336.321187 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 61.478069 meters # Minimum depth: 337.027534 meters looking forward 50.000000 meters along route # Maximum depth: 341.545587 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 262.027534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524339; longitude = -121.249693; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 261.811812; finalDepth = 262.027534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.805637 # Actual altitude: 77.805637 # Commanded vehicle depth: 262.027534 # Seafloor depth: -339.833171 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.545339 meters # Minimum depth: 336.811812 meters looking forward 50.000000 meters along route # Maximum depth: 338.150573 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 261.811812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524805; longitude = -121.249325; captureRadius = 10; duration = 107; initialDepth = 260.234573; finalDepth = 261.811812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.805637 # Actual altitude: 77.805637 # Commanded vehicle depth: 261.811812 # Seafloor depth: -338.150573 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.123199 meters # Minimum depth: 335.234573 meters looking forward 50.000000 meters along route # Maximum depth: 336.834616 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 260.234573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525211; longitude = -121.249006; captureRadius = 10; duration = 108; initialDepth = 259.661278; finalDepth = 260.234573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.600043 # Actual altitude: 76.600043 # Commanded vehicle depth: 260.234573 # Seafloor depth: -336.834616 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.356918 meters # Minimum depth: 334.661278 meters looking forward 50.000000 meters along route # Maximum depth: 335.277530 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 259.661278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525621; longitude = -121.248682; captureRadius = 10; duration = 110; initialDepth = 256.415298; finalDepth = 259.661278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.600043 # Actual altitude: 76.600043 # Commanded vehicle depth: 259.661278 # Seafloor depth: -335.188277 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.155475 meters # Minimum depth: 331.415298 meters looking forward 50.000000 meters along route # Maximum depth: 335.184808 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.415298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526040; longitude = -121.248351; captureRadius = 10; duration = 102; initialDepth = 255.351321; finalDepth = 256.415298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.76951 # Actual altitude: 78.76951 # Commanded vehicle depth: 256.415298 # Seafloor depth: -335.184808 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.545057 meters # Minimum depth: 330.351321 meters looking forward 50.000000 meters along route # Maximum depth: 334.415155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 255.351321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526427; longitude = -121.248046; captureRadius = 10; duration = 107; initialDepth = 255.071198; finalDepth = 255.351321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.76951 # Actual altitude: 78.76951 # Commanded vehicle depth: 255.351321 # Seafloor depth: -330.859606 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.544985 meters # Minimum depth: 330.071198 meters looking forward 50.000000 meters along route # Maximum depth: 332.273411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 255.071198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526833; longitude = -121.247726; captureRadius = 10; duration = 107; initialDepth = 247.628457; finalDepth = 255.071198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.202213 # Actual altitude: 77.202213 # Commanded vehicle depth: 255.071198 # Seafloor depth: -332.273411 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.955303 meters # Minimum depth: 322.628457 meters looking forward 50.000000 meters along route # Maximum depth: 330.132184 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 247.628457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527239; longitude = -121.247406; captureRadius = 10; duration = 107; initialDepth = 241.011165; finalDepth = 247.628457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.503727 # Actual altitude: 82.503727 # Commanded vehicle depth: 247.628457 # Seafloor depth: -330.132184 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 330.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.356553 meters # Minimum depth: 316.011165 meters looking forward 50.000000 meters along route # Maximum depth: 327.515242 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.011165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527648; longitude = -121.247084; captureRadius = 10; duration = 110; initialDepth = 250.728091; finalDepth = 241.011165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.143452 # Actual altitude: 85.143452 # Commanded vehicle depth: 241.011165 # Seafloor depth: -326.154617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.322677 meters # Minimum depth: 325.728091 meters looking forward 50.000000 meters along route # Maximum depth: 330.591159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 250.728091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528067; longitude = -121.246753; captureRadius = 10; duration = 102; initialDepth = 240.205897; finalDepth = 250.728091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.143452 # Actual altitude: 85.143452 # Commanded vehicle depth: 250.728091 # Seafloor depth: -327.805954 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.164141 meters # Minimum depth: 315.205897 meters looking forward 50.000000 meters along route # Maximum depth: 328.929938 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.205897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528456; longitude = -121.246446; captureRadius = 10; duration = 100; initialDepth = 247.928211; finalDepth = 240.205897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.066423 # Actual altitude: 84.066423 # Commanded vehicle depth: 240.205897 # Seafloor depth: -324.272320 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 336.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.975794 meters # Minimum depth: 322.928211 meters looking forward 50.000000 meters along route # Maximum depth: 328.404410 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 247.928211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528836; longitude = -121.246146; captureRadius = 10; duration = 101; initialDepth = 239.642705; finalDepth = 247.928211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.066423 # Actual altitude: 84.066423 # Commanded vehicle depth: 247.928211 # Seafloor depth: -327.948068 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 336.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.544570 meters # Minimum depth: 314.642705 meters looking forward 50.000000 meters along route # Maximum depth: 329.443411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 239.642705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529222; longitude = -121.245842; captureRadius = 10; duration = 107; initialDepth = 235.178605; finalDepth = 239.642705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.800706 # Actual altitude: 89.800706 # Commanded vehicle depth: 239.642705 # Seafloor depth: -329.443411 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.544499 meters # Minimum depth: 310.178605 meters looking forward 50.000000 meters along route # Maximum depth: 325.276748 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 235.178605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.245522; captureRadius = 10; duration = 107; initialDepth = 235.348207; finalDepth = 235.178605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.800706 # Actual altitude: 89.800706 # Commanded vehicle depth: 235.178605 # Seafloor depth: -315.944008 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.134027 meters # Minimum depth: 310.348207 meters looking forward 50.000000 meters along route # Maximum depth: 318.994287 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 235.348207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530033; longitude = -121.245202; captureRadius = 10; duration = 108; initialDepth = 242.046142; finalDepth = 235.348207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.765403 # Actual altitude: 80.765403 # Commanded vehicle depth: 235.348207 # Seafloor depth: -310.348207 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.23; MB_Bottom_Detect_Filter_Max_Range = 323.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.356050 meters # Minimum depth: 317.046142 meters looking forward 50.000000 meters along route # Maximum depth: 320.037052 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.046142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530443; longitude = -121.244879; captureRadius = 10; duration = 110; initialDepth = 241.489137; finalDepth = 242.046142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.436816 # Actual altitude: 75.436816 # Commanded vehicle depth: 242.046142 # Seafloor depth: -317.482958 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.142995 meters # Minimum depth: 316.489137 meters looking forward 50.000000 meters along route # Maximum depth: 320.261953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.489137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530863; longitude = -121.244548; captureRadius = 10; duration = 102; initialDepth = 240.131922; finalDepth = 241.489137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.772816 # Actual altitude: 78.772816 # Commanded vehicle depth: 241.489137 # Seafloor depth: -320.261953 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.544216 meters # Minimum depth: 315.131922 meters looking forward 50.000000 meters along route # Maximum depth: 316.834154 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.131922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531250; longitude = -121.244242; captureRadius = 10; duration = 107; initialDepth = 241.010562; finalDepth = 240.131922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.772816 # Actual altitude: 78.772816 # Commanded vehicle depth: 240.131922 # Seafloor depth: -316.834154 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.544146 meters # Minimum depth: 316.010562 meters looking forward 50.000000 meters along route # Maximum depth: 318.151953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.010562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531656; longitude = -121.243922; captureRadius = 10; duration = 107; initialDepth = 237.932798; finalDepth = 241.010562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.702232 # Actual altitude: 76.702232 # Commanded vehicle depth: 241.010562 # Seafloor depth: -316.331096 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.966134 meters # Minimum depth: 312.932798 meters looking forward 50.000000 meters along route # Maximum depth: 315.538944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 237.932798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532061; longitude = -121.243602; captureRadius = 10; duration = 107; initialDepth = 231.401040; finalDepth = 237.932798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.576311 # Actual altitude: 77.576311 # Commanded vehicle depth: 237.932798 # Seafloor depth: -315.509109 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.355684 meters # Minimum depth: 306.401040 meters looking forward 50.000000 meters along route # Maximum depth: 314.907268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 231.401040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532470; longitude = -121.243280; captureRadius = 10; duration = 110; initialDepth = 233.885441; finalDepth = 231.401040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.506228 # Actual altitude: 83.506228 # Commanded vehicle depth: 231.40104 # Seafloor depth: -314.907268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 334.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.310195 meters # Minimum depth: 308.885441 meters looking forward 50.000000 meters along route # Maximum depth: 319.252854 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.885441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532890; longitude = -121.242949; captureRadius = 10; duration = 102; initialDepth = 235.204555; finalDepth = 233.885441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.506228 # Actual altitude: 83.506228 # Commanded vehicle depth: 233.885441 # Seafloor depth: -308.885441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 334.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.543863 meters # Minimum depth: 310.204555 meters looking forward 50.000000 meters along route # Maximum depth: 316.958211 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 235.204555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533278; longitude = -121.242643; captureRadius = 10; duration = 107; initialDepth = 232.732913; finalDepth = 235.204555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.753656 # Actual altitude: 81.753656 # Commanded vehicle depth: 235.204555 # Seafloor depth: -316.958211 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 327.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.543792 meters # Minimum depth: 307.732913 meters looking forward 50.000000 meters along route # Maximum depth: 310.095044 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 232.732913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533684; longitude = -121.242323; captureRadius = 10; duration = 107; initialDepth = 222.475838; finalDepth = 232.732913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.753656 # Actual altitude: 81.753656 # Commanded vehicle depth: 232.732913 # Seafloor depth: -310.095044 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 327.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.798242 meters # Minimum depth: 297.475838 meters looking forward 50.000000 meters along route # Maximum depth: 307.645445 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.475838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534090; longitude = -121.242003; captureRadius = 10; duration = 107; initialDepth = 220.897964; finalDepth = 222.475838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.169607 # Actual altitude: 85.169607 # Commanded vehicle depth: 222.475838 # Seafloor depth: -307.645445 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.355320 meters # Minimum depth: 295.897964 meters looking forward 50.000000 meters along route # Maximum depth: 302.797400 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.897964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534497; longitude = -121.241681; captureRadius = 10; duration = 110; initialDepth = 222.145891; finalDepth = 220.897964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.169607 # Actual altitude: 85.169607 # Commanded vehicle depth: 220.897964 # Seafloor depth: -301.429936 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.477391 meters # Minimum depth: 297.145891 meters looking forward 50.000000 meters along route # Maximum depth: 310.095789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.145891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534917; longitude = -121.241351; captureRadius = 10; duration = 102; initialDepth = 227.453177; finalDepth = 222.145891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.531972 # Actual altitude: 80.531972 # Commanded vehicle depth: 222.145891 # Seafloor depth: -301.104424 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.007166 meters # Minimum depth: 302.453177 meters looking forward 50.000000 meters along route # Maximum depth: 307.642243 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.453177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535307; longitude = -121.241043; captureRadius = 10; duration = 100; initialDepth = 226.913538; finalDepth = 227.453177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.958533 # Actual altitude: 78.958533 # Commanded vehicle depth: 227.453177 # Seafloor depth: -304.823097 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.130516 meters # Minimum depth: 301.913538 meters looking forward 50.000000 meters along route # Maximum depth: 306.149461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.913538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535686; longitude = -121.240744; captureRadius = 10; duration = 102; initialDepth = 225.752499; finalDepth = 226.913538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.36992 # Actual altitude: 77.36992 # Commanded vehicle depth: 226.913538 # Seafloor depth: -302.012745 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.543376 meters # Minimum depth: 300.752499 meters looking forward 50.000000 meters along route # Maximum depth: 305.022230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.752499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536073; longitude = -121.240439; captureRadius = 10; duration = 107; initialDepth = 225.994560; finalDepth = 225.752499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.269731 # Actual altitude: 79.269731 # Commanded vehicle depth: 225.752499 # Seafloor depth: -305.022230 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.543305 meters # Minimum depth: 300.994560 meters looking forward 50.000000 meters along route # Maximum depth: 303.757391 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.994560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536479; longitude = -121.240119; captureRadius = 10; duration = 107; initialDepth = 225.625415; finalDepth = 225.994560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.269731 # Actual altitude: 79.269731 # Commanded vehicle depth: 225.99456 # Seafloor depth: -301.583664 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.976965 meters # Minimum depth: 300.625415 meters looking forward 50.000000 meters along route # Maximum depth: 305.687024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.625415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536884; longitude = -121.239799; captureRadius = 10; duration = 107; initialDepth = 225.167763; finalDepth = 225.625415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.25923 # Actual altitude: 76.25923 # Commanded vehicle depth: 225.625415 # Seafloor depth: -301.884645 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.354816 meters # Minimum depth: 300.167763 meters looking forward 50.000000 meters along route # Maximum depth: 309.184871 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.167763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537293; longitude = -121.239476; captureRadius = 10; duration = 110; initialDepth = 227.222916; finalDepth = 225.167763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.25923 # Actual altitude: 76.25923 # Commanded vehicle depth: 225.167763 # Seafloor depth: -300.646268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.297713 meters # Minimum depth: 302.222916 meters looking forward 50.000000 meters along route # Maximum depth: 306.238466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.222916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537712; longitude = -121.239146; captureRadius = 10; duration = 102; initialDepth = 223.970624; finalDepth = 227.222916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.478505 # Actual altitude: 75.478505 # Commanded vehicle depth: 227.222916 # Seafloor depth: -302.222916 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.543023 meters # Minimum depth: 298.970624 meters looking forward 50.000000 meters along route # Maximum depth: 303.303566 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.970624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538101; longitude = -121.238839; captureRadius = 10; duration = 107; initialDepth = 222.753306; finalDepth = 223.970624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.332942 # Actual altitude: 79.332942 # Commanded vehicle depth: 223.970624 # Seafloor depth: -303.303566 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.542952 meters # Minimum depth: 297.753306 meters looking forward 50.000000 meters along route # Maximum depth: 298.573024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.753306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538507; longitude = -121.238519; captureRadius = 10; duration = 107; initialDepth = 222.438225; finalDepth = 222.753306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.332942 # Actual altitude: 79.332942 # Commanded vehicle depth: 222.753306 # Seafloor depth: -298.556888 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.809076 meters # Minimum depth: 297.438225 meters looking forward 50.000000 meters along route # Maximum depth: 300.512367 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.438225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538912; longitude = -121.238199; captureRadius = 10; duration = 107; initialDepth = 211.271244; finalDepth = 222.438225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.898505 # Actual altitude: 75.898505 # Commanded vehicle depth: 222.438225 # Seafloor depth: -298.336730 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.354451 meters # Minimum depth: 286.271244 meters looking forward 50.000000 meters along route # Maximum depth: 300.518464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 211.271244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539320; longitude = -121.237878; captureRadius = 10; duration = 110; initialDepth = 216.742160; finalDepth = 211.271244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.24722 # Actual altitude: 89.24722 # Commanded vehicle depth: 211.271244 # Seafloor depth: -300.518464 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.464906 meters # Minimum depth: 291.742160 meters looking forward 50.000000 meters along route # Maximum depth: 299.172559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 216.742160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539739; longitude = -121.237547; captureRadius = 10; duration = 102; initialDepth = 221.303889; finalDepth = 216.742160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.24722 # Actual altitude: 89.24722 # Commanded vehicle depth: 216.74216 # Seafloor depth: -291.742160 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.018059 meters # Minimum depth: 296.303889 meters looking forward 50.000000 meters along route # Maximum depth: 298.689282 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 221.303889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540129; longitude = -121.237240; captureRadius = 10; duration = 100; initialDepth = 219.356491; finalDepth = 221.303889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.385393 # Actual altitude: 77.385393 # Commanded vehicle depth: 221.303889 # Seafloor depth: -298.689282 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.118036 meters # Minimum depth: 294.356491 meters looking forward 50.000000 meters along route # Maximum depth: 296.360855 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.356491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540508; longitude = -121.236941; captureRadius = 10; duration = 102; initialDepth = 219.967101; finalDepth = 219.356491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.385393 # Actual altitude: 77.385393 # Commanded vehicle depth: 219.356491 # Seafloor depth: -296.360855 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.542537 meters # Minimum depth: 294.967101 meters looking forward 50.000000 meters along route # Maximum depth: 297.932075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.967101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540896; longitude = -121.236635; captureRadius = 10; duration = 107; initialDepth = 217.079008; finalDepth = 219.967101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.004364 # Actual altitude: 77.004364 # Commanded vehicle depth: 219.967101 # Seafloor depth: -295.786213 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.542465 meters # Minimum depth: 292.079008 meters looking forward 50.000000 meters along route # Maximum depth: 297.816846 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 217.079008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541301; longitude = -121.236315; captureRadius = 10; duration = 107; initialDepth = 217.683834; finalDepth = 217.079008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.534039 # Actual altitude: 80.534039 # Commanded vehicle depth: 217.079008 # Seafloor depth: -297.613047 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.987795 meters # Minimum depth: 292.683834 meters looking forward 50.000000 meters along route # Maximum depth: 298.915306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 217.683834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541707; longitude = -121.235995; captureRadius = 10; duration = 107; initialDepth = 214.349742; finalDepth = 217.683834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.534039 # Actual altitude: 80.534039 # Commanded vehicle depth: 217.683834 # Seafloor depth: -292.683834 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.353949 meters # Minimum depth: 289.349742 meters looking forward 50.000000 meters along route # Maximum depth: 296.429807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.349742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542116; longitude = -121.235673; captureRadius = 10; duration = 110; initialDepth = 212.217846; finalDepth = 214.349742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.080065 # Actual altitude: 82.080065 # Commanded vehicle depth: 214.349742 # Seafloor depth: -296.429807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.285230 meters # Minimum depth: 287.217846 meters looking forward 50.000000 meters along route # Maximum depth: 289.783304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.217846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542535; longitude = -121.235342; captureRadius = 10; duration = 102; initialDepth = 205.218537; finalDepth = 212.217846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.080065 # Actual altitude: 82.080065 # Commanded vehicle depth: 212.217846 # Seafloor depth: -289.485167 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.542183 meters # Minimum depth: 280.218537 meters looking forward 50.000000 meters along route # Maximum depth: 289.538021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.218537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542924; longitude = -121.235036; captureRadius = 10; duration = 107; initialDepth = 206.499418; finalDepth = 205.218537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.247498 # Actual altitude: 82.247498 # Commanded vehicle depth: 205.218537 # Seafloor depth: -287.466035 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.542113 meters # Minimum depth: 281.499418 meters looking forward 50.000000 meters along route # Maximum depth: 290.539440 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.499418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543329; longitude = -121.234716; captureRadius = 10; duration = 107; initialDepth = 206.837210; finalDepth = 206.499418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.911417 # Actual altitude: 83.911417 # Commanded vehicle depth: 206.499418 # Seafloor depth: -290.410835 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 335.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.819908 meters # Minimum depth: 281.837210 meters looking forward 50.000000 meters along route # Maximum depth: 287.372761 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.837210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543735; longitude = -121.234396; captureRadius = 10; duration = 107; initialDepth = 211.215349; finalDepth = 206.837210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.911417 # Actual altitude: 83.911417 # Commanded vehicle depth: 206.83721 # Seafloor depth: -281.837210 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 335.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.353584 meters # Minimum depth: 286.215349 meters looking forward 50.000000 meters along route # Maximum depth: 288.577293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 211.215349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544143; longitude = -121.234074; captureRadius = 10; duration = 110; initialDepth = 206.168587; finalDepth = 211.215349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.118778 # Actual altitude: 76.118778 # Commanded vehicle depth: 211.215349 # Seafloor depth: -287.334127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 304.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.452422 meters # Minimum depth: 281.168587 meters looking forward 50.000000 meters along route # Maximum depth: 286.838002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.168587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544562; longitude = -121.233743; captureRadius = 10; duration = 102; initialDepth = 206.467535; finalDepth = 206.168587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.370782 # Actual altitude: 80.370782 # Commanded vehicle depth: 206.168587 # Seafloor depth: -286.539369 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.028951 meters # Minimum depth: 281.467535 meters looking forward 50.000000 meters along route # Maximum depth: 284.572020 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 206.467535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544952; longitude = -121.233436; captureRadius = 10; duration = 100; initialDepth = 199.584587; finalDepth = 206.467535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.370782 # Actual altitude: 80.370782 # Commanded vehicle depth: 206.467535 # Seafloor depth: -281.927337 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.105557 meters # Minimum depth: 274.584587 meters looking forward 50.000000 meters along route # Maximum depth: 282.742520 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.584587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545331; longitude = -121.233137; captureRadius = 10; duration = 102; initialDepth = 203.179143; finalDepth = 199.584587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.157933 # Actual altitude: 83.157933 # Commanded vehicle depth: 199.584587 # Seafloor depth: -282.742520 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 332.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.541697 meters # Minimum depth: 278.179143 meters looking forward 50.000000 meters along route # Maximum depth: 280.250010 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.179143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545718; longitude = -121.232832; captureRadius = 10; duration = 107; initialDepth = 203.855244; finalDepth = 203.179143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.157933 # Actual altitude: 83.157933 # Commanded vehicle depth: 203.179143 # Seafloor depth: -278.179143 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 332.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.541626 meters # Minimum depth: 278.855244 meters looking forward 50.000000 meters along route # Maximum depth: 280.571011 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.855244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546124; longitude = -121.232512; captureRadius = 10; duration = 107; initialDepth = 198.698781; finalDepth = 203.855244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.715767 # Actual altitude: 76.715767 # Commanded vehicle depth: 203.855244 # Seafloor depth: -280.571011 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.998625 meters # Minimum depth: 273.698781 meters looking forward 50.000000 meters along route # Maximum depth: 280.518129 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.698781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546530; longitude = -121.232192; captureRadius = 10; duration = 107; initialDepth = 195.741448; finalDepth = 198.698781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.354266 # Actual altitude: 80.354266 # Commanded vehicle depth: 198.698781 # Seafloor depth: -279.053047 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.353080 meters # Minimum depth: 270.741448 meters looking forward 50.000000 meters along route # Maximum depth: 275.723581 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 195.741448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546939; longitude = -121.231869; captureRadius = 10; duration = 110; initialDepth = 194.759767; finalDepth = 195.741448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.354266 # Actual altitude: 80.354266 # Commanded vehicle depth: 195.741448 # Seafloor depth: -273.427985 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.272749 meters # Minimum depth: 269.759767 meters looking forward 50.000000 meters along route # Maximum depth: 275.729076 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.759767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547358; longitude = -121.231538; captureRadius = 10; duration = 102; initialDepth = 194.733251; finalDepth = 194.759767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.686537 # Actual altitude: 77.686537 # Commanded vehicle depth: 194.759767 # Seafloor depth: -270.267280 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 310.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.541343 meters # Minimum depth: 269.733251 meters looking forward 50.000000 meters along route # Maximum depth: 272.184276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.733251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547747; longitude = -121.231232; captureRadius = 10; duration = 107; initialDepth = 191.075804; finalDepth = 194.733251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.451025 # Actual altitude: 77.451025 # Commanded vehicle depth: 194.733251 # Seafloor depth: -272.184276 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 309.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.541273 meters # Minimum depth: 266.075804 meters looking forward 50.000000 meters along route # Maximum depth: 271.150722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.075804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548152; longitude = -121.230912; captureRadius = 10; duration = 107; initialDepth = 189.435504; finalDepth = 191.075804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.298657 # Actual altitude: 79.298657 # Commanded vehicle depth: 191.075804 # Seafloor depth: -270.374461 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 317.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.830742 meters # Minimum depth: 264.435504 meters looking forward 50.000000 meters along route # Maximum depth: 269.317775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.435504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548558; longitude = -121.230592; captureRadius = 10; duration = 107; initialDepth = 188.179638; finalDepth = 189.435504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.882271 # Actual altitude: 79.882271 # Commanded vehicle depth: 189.435504 # Seafloor depth: -269.317775 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 319.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.352715 meters # Minimum depth: 263.179638 meters looking forward 50.000000 meters along route # Maximum depth: 268.392977 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.179638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548966; longitude = -121.230271; captureRadius = 10; duration = 110; initialDepth = 185.068202; finalDepth = 188.179638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.213339 # Actual altitude: 80.213339 # Commanded vehicle depth: 188.179638 # Seafloor depth: -268.392977 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.439938 meters # Minimum depth: 260.068202 meters looking forward 50.000000 meters along route # Maximum depth: 263.044017 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 185.068202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549385; longitude = -121.229940; captureRadius = 10; duration = 102; initialDepth = 182.308576; finalDepth = 185.068202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.213339 # Actual altitude: 80.213339 # Commanded vehicle depth: 185.068202 # Seafloor depth: -263.044017 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.039843 meters # Minimum depth: 257.308576 meters looking forward 50.000000 meters along route # Maximum depth: 260.559636 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.308576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549775; longitude = -121.229632; captureRadius = 10; duration = 100; initialDepth = 183.904204; finalDepth = 182.308576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.975815 # Actual altitude: 77.975815 # Commanded vehicle depth: 182.308576 # Seafloor depth: -258.316437 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.093079 meters # Minimum depth: 258.904204 meters looking forward 50.000000 meters along route # Maximum depth: 266.627960 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.904204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550154; longitude = -121.229333; captureRadius = 10; duration = 102; initialDepth = 182.119700; finalDepth = 183.904204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.007861 # Actual altitude: 76.007861 # Commanded vehicle depth: 183.904204 # Seafloor depth: -258.904204 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 304.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.540857 meters # Minimum depth: 257.119700 meters looking forward 50.000000 meters along route # Maximum depth: 261.897158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.119700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550541; longitude = -121.229028; captureRadius = 10; duration = 107; initialDepth = 182.215476; finalDepth = 182.119700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.777458 # Actual altitude: 79.777458 # Commanded vehicle depth: 182.1197 # Seafloor depth: -261.897158 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.540786 meters # Minimum depth: 257.215476 meters looking forward 50.000000 meters along route # Maximum depth: 261.041918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.215476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550947; longitude = -121.228708; captureRadius = 10; duration = 107; initialDepth = 181.398554; finalDepth = 182.215476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.777458 # Actual altitude: 79.777458 # Commanded vehicle depth: 182.215476 # Seafloor depth: -258.428096 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.009455 meters # Minimum depth: 256.398554 meters looking forward 50.000000 meters along route # Maximum depth: 264.728221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.398554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551352; longitude = -121.228388; captureRadius = 10; duration = 108; initialDepth = 189.741464; finalDepth = 181.398554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.893694 # Actual altitude: 76.893694 # Commanded vehicle depth: 181.398554 # Seafloor depth: -258.292248 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.352212 meters # Minimum depth: 264.741464 meters looking forward 50.000000 meters along route # Maximum depth: 265.848422 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.741464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551762; longitude = -121.228066; captureRadius = 10; duration = 110; initialDepth = 186.044773; finalDepth = 189.741464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.893694 # Actual altitude: 76.893694 # Commanded vehicle depth: 189.741464 # Seafloor depth: -264.882735 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.260268 meters # Minimum depth: 261.044773 meters looking forward 50.000000 meters along route # Maximum depth: 264.632938 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.044773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552181; longitude = -121.227735; captureRadius = 10; duration = 102; initialDepth = 179.331930; finalDepth = 186.044773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.588165 # Actual altitude: 78.588165 # Commanded vehicle depth: 186.044773 # Seafloor depth: -264.632938 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 314.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.540504 meters # Minimum depth: 254.331930 meters looking forward 50.000000 meters along route # Maximum depth: 260.041369 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.331930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552569; longitude = -121.227429; captureRadius = 10; duration = 107; initialDepth = 179.300448; finalDepth = 179.331930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.44881 # Actual altitude: 79.44881 # Commanded vehicle depth: 179.33193 # Seafloor depth: -258.780740 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 317.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.540433 meters # Minimum depth: 254.300448 meters looking forward 50.000000 meters along route # Maximum depth: 257.617975 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 179.300448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552975; longitude = -121.227109; captureRadius = 10; duration = 107; initialDepth = 172.713525; finalDepth = 179.300448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.44881 # Actual altitude: 79.44881 # Commanded vehicle depth: 179.300448 # Seafloor depth: -256.716738 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 317.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.841574 meters # Minimum depth: 247.713525 meters looking forward 50.000000 meters along route # Maximum depth: 253.991101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.713525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553381; longitude = -121.226789; captureRadius = 10; duration = 107; initialDepth = 168.691297; finalDepth = 172.713525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.277576 # Actual altitude: 81.277576 # Commanded vehicle depth: 172.713525 # Seafloor depth: -253.991101 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 325.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.351847 meters # Minimum depth: 243.691297 meters looking forward 50.000000 meters along route # Maximum depth: 252.605944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.691297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553788; longitude = -121.226467; captureRadius = 10; duration = 110; initialDepth = 174.000748; finalDepth = 168.691297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.277576 # Actual altitude: 81.277576 # Commanded vehicle depth: 168.691297 # Seafloor depth: -247.707204 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 325.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.427455 meters # Minimum depth: 249.000748 meters looking forward 50.000000 meters along route # Maximum depth: 255.006297 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.000748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554208; longitude = -121.226136; captureRadius = 10; duration = 102; initialDepth = 169.000595; finalDepth = 174.000748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.319878 # Actual altitude: 79.319878 # Commanded vehicle depth: 174.000748 # Seafloor depth: -253.320626 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.050735 meters # Minimum depth: 244.000595 meters looking forward 50.000000 meters along route # Maximum depth: 248.664297 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.000595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554597; longitude = -121.225829; captureRadius = 10; duration = 100; initialDepth = 167.977115; finalDepth = 169.000595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.663702 # Actual altitude: 79.663702 # Commanded vehicle depth: 169.000595 # Seafloor depth: -248.664297 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.080601 meters # Minimum depth: 242.977115 meters looking forward 50.000000 meters along route # Maximum depth: 247.435100 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.977115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554977; longitude = -121.225530; captureRadius = 10; duration = 102; initialDepth = 168.736102; finalDepth = 167.977115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.663702 # Actual altitude: 79.663702 # Commanded vehicle depth: 167.977115 # Seafloor depth: -247.435100 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.540017 meters # Minimum depth: 243.736102 meters looking forward 50.000000 meters along route # Maximum depth: 247.933943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.736102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555364; longitude = -121.225225; captureRadius = 10; duration = 107; initialDepth = 156.728829; finalDepth = 168.736102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.457985 # Actual altitude: 79.457985 # Commanded vehicle depth: 168.736102 # Seafloor depth: -244.891611 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 317.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.539947 meters # Minimum depth: 231.728829 meters looking forward 50.000000 meters along route # Maximum depth: 247.711741 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 156.728829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555769; longitude = -121.224905; captureRadius = 10; duration = 107; initialDepth = 152.320997; finalDepth = 156.728829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.982912 # Actual altitude: 90.982912 # Commanded vehicle depth: 156.728829 # Seafloor depth: -247.711741 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.020285 meters # Minimum depth: 227.320997 meters looking forward 50.000000 meters along route # Maximum depth: 232.967431 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 152.320997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556175; longitude = -121.224585; captureRadius = 10; duration = 108; initialDepth = 154.954671; finalDepth = 152.320997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.982912 # Actual altitude: 90.982912 # Commanded vehicle depth: 152.320997 # Seafloor depth: -232.967431 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.351343 meters # Minimum depth: 229.954671 meters looking forward 50.000000 meters along route # Maximum depth: 234.598452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 154.954671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556584; longitude = -121.224262; captureRadius = 10; duration = 110; initialDepth = 156.414571; finalDepth = 154.954671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.646434 # Actual altitude: 80.646434 # Commanded vehicle depth: 154.954671 # Seafloor depth: -230.726657 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.247788 meters # Minimum depth: 231.414571 meters looking forward 50.000000 meters along route # Maximum depth: 234.827705 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 156.414571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557004; longitude = -121.223931; captureRadius = 10; duration = 102; initialDepth = 153.852992; finalDepth = 156.414571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.413134 # Actual altitude: 78.413134 # Commanded vehicle depth: 156.414571 # Seafloor depth: -234.827705 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 313.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.539664 meters # Minimum depth: 228.852992 meters looking forward 50.000000 meters along route # Maximum depth: 233.431455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 153.852992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557392; longitude = -121.223625; captureRadius = 10; duration = 107; initialDepth = 152.006706; finalDepth = 153.852992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.578463 # Actual altitude: 79.578463 # Commanded vehicle depth: 153.852992 # Seafloor depth: -233.431455 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.539594 meters # Minimum depth: 227.006706 meters looking forward 50.000000 meters along route # Maximum depth: 231.136058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 152.006706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557798; longitude = -121.223305; captureRadius = 10; duration = 107; initialDepth = 146.544858; finalDepth = 152.006706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.578463 # Actual altitude: 79.578463 # Commanded vehicle depth: 152.006706 # Seafloor depth: -230.220615 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.852406 meters # Minimum depth: 221.544858 meters looking forward 50.000000 meters along route # Maximum depth: 227.179198 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 146.544858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558203; longitude = -121.222985; captureRadius = 10; duration = 107; initialDepth = 134.103895; finalDepth = 146.544858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.63434 # Actual altitude: 80.63434 # Commanded vehicle depth: 146.544858 # Seafloor depth: -227.179198 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.350978 meters # Minimum depth: 209.103895 meters looking forward 50.000000 meters along route # Maximum depth: 222.466939 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 134.103895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558611; longitude = -121.222663; captureRadius = 10; duration = 110; initialDepth = 134.327137; finalDepth = 134.103895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.279332 # Actual altitude: 88.279332 # Commanded vehicle depth: 134.103895 # Seafloor depth: -222.383227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.414972 meters # Minimum depth: 209.327137 meters looking forward 50.000000 meters along route # Maximum depth: 221.604399 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 134.327137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559031; longitude = -121.222333; captureRadius = 10; duration = 102; initialDepth = 133.651317; finalDepth = 134.327137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.279332 # Actual altitude: 88.279332 # Commanded vehicle depth: 134.327137 # Seafloor depth: -209.327137 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.061627 meters # Minimum depth: 208.651317 meters looking forward 50.000000 meters along route # Maximum depth: 211.040098 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 133.651317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559420; longitude = -121.222025; captureRadius = 10; duration = 100; initialDepth = 129.568684; finalDepth = 133.651317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.388781 # Actual altitude: 77.388781 # Commanded vehicle depth: 133.651317 # Seafloor depth: -211.040098 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.068124 meters # Minimum depth: 204.568684 meters looking forward 50.000000 meters along route # Maximum depth: 213.502116 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 129.568684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559800; longitude = -121.221726; captureRadius = 10; duration = 102; initialDepth = 127.618598; finalDepth = 129.568684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.484551 # Actual altitude: 80.484551 # Commanded vehicle depth: 129.568684 # Seafloor depth: -210.053235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.539177 meters # Minimum depth: 202.618598 meters looking forward 50.000000 meters along route # Maximum depth: 213.186050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 127.618598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560186; longitude = -121.221421; captureRadius = 10; duration = 107; initialDepth = 123.187173; finalDepth = 127.618598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.484551 # Actual altitude: 80.484551 # Commanded vehicle depth: 127.618598 # Seafloor depth: -206.594075 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.539107 meters # Minimum depth: 198.187173 meters looking forward 50.000000 meters along route # Maximum depth: 202.506763 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 123.187173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560592; longitude = -121.221101; captureRadius = 10; duration = 107; initialDepth = 118.079888; finalDepth = 123.187173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.31959 # Actual altitude: 79.31959 # Commanded vehicle depth: 123.187173 # Seafloor depth: -202.506763 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.031114 meters # Minimum depth: 193.079888 meters looking forward 50.000000 meters along route # Maximum depth: 197.466335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 118.079888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560998; longitude = -121.220781; captureRadius = 10; duration = 108; initialDepth = 115.624847; finalDepth = 118.079888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.386447 # Actual altitude: 79.386447 # Commanded vehicle depth: 118.079888 # Seafloor depth: -197.466335 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.350476 meters # Minimum depth: 190.624847 meters looking forward 50.000000 meters along route # Maximum depth: 193.044659 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 115.624847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561407; longitude = -121.220458; captureRadius = 10; duration = 110; initialDepth = 106.250366; finalDepth = 115.624847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.386447 # Actual altitude: 79.386447 # Commanded vehicle depth: 115.624847 # Seafloor depth: -193.044659 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.235308 meters # Minimum depth: 181.250366 meters looking forward 50.000000 meters along route # Maximum depth: 191.081532 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 106.250366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561826; longitude = -121.220128; captureRadius = 10; duration = 102; initialDepth = 102.604990; finalDepth = 106.250366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.486695 # Actual altitude: 84.486695 # Commanded vehicle depth: 106.250366 # Seafloor depth: -190.737061 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 337.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.538824 meters # Minimum depth: 177.604990 meters looking forward 50.000000 meters along route # Maximum depth: 181.798758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 102.604990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562215; longitude = -121.219822; captureRadius = 10; duration = 107; initialDepth = 101.272599; finalDepth = 102.604990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.486695 # Actual altitude: 84.486695 # Commanded vehicle depth: 102.60499 # Seafloor depth: -181.274310 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 337.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.538754 meters # Minimum depth: 176.272599 meters looking forward 50.000000 meters along route # Maximum depth: 179.287507 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 101.272599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562620; longitude = -121.219502; captureRadius = 10; duration = 107; initialDepth = 93.677017; finalDepth = 101.272599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.66932 # Actual altitude: 78.66932 # Commanded vehicle depth: 101.272599 # Seafloor depth: -176.736330 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.863238 meters # Minimum depth: 168.677017 meters looking forward 50.000000 meters along route # Maximum depth: 176.969903 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 93.677017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563026; longitude = -121.219182; captureRadius = 10; duration = 107; initialDepth = 83.243694; finalDepth = 93.677017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.292886 # Actual altitude: 83.292886 # Commanded vehicle depth: 93.677017 # Seafloor depth: -176.969903 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 333.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.350111 meters # Minimum depth: 158.243694 meters looking forward 50.000000 meters along route # Maximum depth: 170.147905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 83.243694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563434; longitude = -121.218860; captureRadius = 10; duration = 110; initialDepth = 86.816289; finalDepth = 83.243694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.344277 # Actual altitude: 85.344277 # Commanded vehicle depth: 83.243694 # Seafloor depth: -168.587971 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 341.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.402489 meters # Minimum depth: 161.816289 meters looking forward 50.000000 meters along route # Maximum depth: 167.380571 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 86.816289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563853; longitude = -121.218529; captureRadius = 10; duration = 102; initialDepth = 82.984101; finalDepth = 86.816289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.344277 # Actual altitude: 85.344277 # Commanded vehicle depth: 86.816289 # Seafloor depth: -167.323098 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 341.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.072518 meters # Minimum depth: 157.984101 meters looking forward 50.000000 meters along route # Maximum depth: 161.886295 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 82.984101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564243; longitude = -121.218222; captureRadius = 10; duration = 100; initialDepth = 77.558828; finalDepth = 82.984101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.506809 # Actual altitude: 80.506809 # Commanded vehicle depth: 82.984101 # Seafloor depth: -161.886295 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 322.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.055647 meters # Minimum depth: 152.558828 meters looking forward 50.000000 meters along route # Maximum depth: 159.471634 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 77.558828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564622; longitude = -121.217923; captureRadius = 10; duration = 102; initialDepth = 74.816094; finalDepth = 77.558828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.593491 # Actual altitude: 80.593491 # Commanded vehicle depth: 77.558828 # Seafloor depth: -158.152319 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.538338 meters # Minimum depth: 149.816094 meters looking forward 50.000000 meters along route # Maximum depth: 151.770005 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 74.816094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565009; longitude = -121.217618; captureRadius = 10; duration = 107; initialDepth = 73.753734; finalDepth = 74.816094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.593491 # Actual altitude: 80.593491 # Commanded vehicle depth: 74.816094 # Seafloor depth: -151.770005 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.538267 meters # Minimum depth: 148.753734 meters looking forward 50.000000 meters along route # Maximum depth: 151.884073 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 73.753734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565415; longitude = -121.217298; captureRadius = 10; duration = 107; initialDepth = 70.673347; finalDepth = 73.753734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.558428 # Actual altitude: 77.558428 # Commanded vehicle depth: 73.753734 # Seafloor depth: -151.312162 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.041943 meters # Minimum depth: 145.673347 meters looking forward 50.000000 meters along route # Maximum depth: 149.918510 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 70.673347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565820; longitude = -121.216978; captureRadius = 10; duration = 108; initialDepth = 65.635807; finalDepth = 70.673347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.797466 # Actual altitude: 78.797466 # Commanded vehicle depth: 70.673347 # Seafloor depth: -149.470813 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.349608 meters # Minimum depth: 140.635807 meters looking forward 50.000000 meters along route # Maximum depth: 145.508356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 65.635807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566230; longitude = -121.216655; captureRadius = 10; duration = 110; initialDepth = 57.911369; finalDepth = 65.635807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.872549 # Actual altitude: 79.872549 # Commanded vehicle depth: 65.635807 # Seafloor depth: -145.508356 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 319.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.222828 meters # Minimum depth: 132.911369 meters looking forward 50.000000 meters along route # Maximum depth: 140.901692 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 57.911369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566649; longitude = -121.216324; captureRadius = 10; duration = 102; initialDepth = 56.899963; finalDepth = 57.911369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.990323 # Actual altitude: 82.990323 # Commanded vehicle depth: 57.911369 # Seafloor depth: -140.901692 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 331.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.251257 meters # Minimum depth: 131.899963 meters looking forward 50.000000 meters along route # Maximum depth: 134.527222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 56.899963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567037; longitude = -121.216018; captureRadius = 10; duration = 100; initialDepth = 52.777687; finalDepth = 56.899963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.990323 # Actual altitude: 82.990323 # Commanded vehicle depth: 56.899963 # Seafloor depth: -133.356683 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 331.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.875989 meters # Minimum depth: 127.777687 meters looking forward 50.000000 meters along route # Maximum depth: 133.561892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 52.777687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567418; longitude = -121.215718; captureRadius = 10; duration = 101; initialDepth = 50.537802; finalDepth = 52.777687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.784205 # Actual altitude: 80.784205 # Commanded vehicle depth: 52.777687 # Seafloor depth: -133.561892 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 323.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 53.537851 meters # Minimum depth: 125.537802 meters looking forward 50.000000 meters along route # Maximum depth: 130.445035 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 50.537802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567804; longitude = -121.215414; captureRadius = 10; duration = 107; initialDepth = 46.691122; finalDepth = 50.537802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.784205 # Actual altitude: 80.784205 # Commanded vehicle depth: 50.537802 # Seafloor depth: -128.313795 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 323.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 55.529101 meters # Minimum depth: 121.691122 meters looking forward 50.000000 meters along route # Maximum depth: 125.084611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 46.691122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568209; longitude = -121.215094; captureRadius = 10; duration = 111; initialDepth = 46.562607; finalDepth = 46.691122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.393489 # Actual altitude: 78.393489 # Commanded vehicle depth: 46.691122 # Seafloor depth: -125.084611 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 313.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 46.075812 meters # Minimum depth: 121.562607 meters looking forward 50.000000 meters along route # Maximum depth: 129.478333 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 46.562607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568630; longitude = -121.214762; captureRadius = 10; duration = 92; # abortOnTimeout = True; initialDepth = 51.966416; finalDepth = 46.562607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.393489 # Actual altitude: 78.393489 # Commanded vehicle depth: 46.562607 # Seafloor depth: -121.562607 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 313.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.249889 meters # Minimum depth: 126.966416 meters looking forward 50.000000 meters along route # Maximum depth: 130.526405 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 51.966416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568881; longitude = -121.215167; captureRadius = 10; duration = 100; initialDepth = 51.471429; finalDepth = 51.966416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.097378 # Actual altitude: 78.097378 # Commanded vehicle depth: 51.966416 # Seafloor depth: -130.063794 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.212143 meters # Minimum depth: 126.471429 meters looking forward 50.000000 meters along route # Maximum depth: 128.741549 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 51.471429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569156; longitude = -121.215608; captureRadius = 10; duration = 100; initialDepth = 53.741081; finalDepth = 51.471429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.097378 # Actual altitude: 78.097378 # Commanded vehicle depth: 51.471429 # Seafloor depth: -126.960777 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.230842 meters # Minimum depth: 128.741081 meters looking forward 50.000000 meters along route # Maximum depth: 133.122286 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 53.741081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569430; longitude = -121.216049; captureRadius = 10; duration = 100; initialDepth = 56.666195; finalDepth = 53.741081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.489348 # Actual altitude: 75.489348 # Commanded vehicle depth: 53.741081 # Seafloor depth: -128.748194 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 301.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.230727 meters # Minimum depth: 131.666195 meters looking forward 50.000000 meters along route # Maximum depth: 134.766760 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 56.666195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569704; longitude = -121.216489; captureRadius = 10; duration = 100; initialDepth = 59.612955; finalDepth = 56.666195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.007113 # Actual altitude: 75.007113 # Commanded vehicle depth: 56.666195 # Seafloor depth: -131.666195 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.230611 meters # Minimum depth: 134.612955 meters looking forward 50.000000 meters along route # Maximum depth: 136.444530 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 59.612955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569978; longitude = -121.216930; captureRadius = 10; duration = 100; initialDepth = 60.214337; finalDepth = 59.612955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 59.612955 # Seafloor depth: -134.612955 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.323430 meters # Minimum depth: 135.214337 meters looking forward 50.000000 meters along route # Maximum depth: 136.805130 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 60.214337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.570252; longitude = -121.217371; captureRadius = 10; duration = 104; initialDepth = 61.342997; finalDepth = 60.214337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.487456 # Actual altitude: 76.487456 # Commanded vehicle depth: 60.214337 # Seafloor depth: -136.701793 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 57.456720 meters # Minimum depth: 136.342997 meters looking forward 50.000000 meters along route # Maximum depth: 138.821034 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 61.342997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.570538; longitude = -121.217831; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 63.551308; finalDepth = 61.342997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.487456 # Actual altitude: 76.487456 # Commanded vehicle depth: 61.342997 # Seafloor depth: -136.342997 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.375940 meters # Minimum depth: 138.551308 meters looking forward 50.000000 meters along route # Maximum depth: 144.549219 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 63.551308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.570102; longitude = -121.218174; captureRadius = 10; duration = 100; initialDepth = 64.817852; finalDepth = 63.551308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.345039 # Actual altitude: 75.345039 # Commanded vehicle depth: 63.551308 # Seafloor depth: -138.896347 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 301.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.668832 meters # Minimum depth: 139.817852 meters looking forward 50.000000 meters along route # Maximum depth: 141.766793 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 64.817852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569720; longitude = -121.218474; captureRadius = 10; duration = 101; initialDepth = 67.211268; finalDepth = 64.817852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.948941 # Actual altitude: 76.948941 # Commanded vehicle depth: 64.817852 # Seafloor depth: -141.766793 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.002223 meters # Minimum depth: 142.211268 meters looking forward 50.000000 meters along route # Maximum depth: 147.057137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 67.211268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569336; longitude = -121.218776; captureRadius = 10; duration = 102; initialDepth = 70.672616; finalDepth = 67.211268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.948941 # Actual altitude: 76.948941 # Commanded vehicle depth: 67.211268 # Seafloor depth: -142.425857 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.042800 meters # Minimum depth: 145.672616 meters looking forward 50.000000 meters along route # Maximum depth: 150.010150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 70.672616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568949; longitude = -121.219080; captureRadius = 10; duration = 100; initialDepth = 72.062758; finalDepth = 70.672616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.191643 # Actual altitude: 76.191643 # Commanded vehicle depth: 70.672616 # Seafloor depth: -146.864259 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 304.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.494526 meters # Minimum depth: 147.062758 meters looking forward 50.000000 meters along route # Maximum depth: 152.711509 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 72.062758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568570; longitude = -121.219379; captureRadius = 10; duration = 106; initialDepth = 77.842592; finalDepth = 72.062758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.191643 # Actual altitude: 76.191643 # Commanded vehicle depth: 72.062758 # Seafloor depth: -147.062758 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 304.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.591167 meters # Minimum depth: 152.842592 meters looking forward 50.000000 meters along route # Maximum depth: 158.427411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 77.842592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568164; longitude = -121.219698; captureRadius = 10; duration = 107; initialDepth = 82.403143; finalDepth = 77.842592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 77.842592 # Seafloor depth: -152.842592 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.457260 meters # Minimum depth: 157.403143 meters looking forward 50.000000 meters along route # Maximum depth: 168.912642 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 82.403143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567758; longitude = -121.220017; captureRadius = 10; duration = 110; initialDepth = 94.727075; finalDepth = 82.403143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.038342 # Actual altitude: 76.038342 # Commanded vehicle depth: 82.403143 # Seafloor depth: -158.441485 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 304.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.435571 meters # Minimum depth: 169.727075 meters looking forward 50.000000 meters along route # Maximum depth: 173.651101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 94.727075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567337; longitude = -121.220348; captureRadius = 10; duration = 102; initialDepth = 99.226276; finalDepth = 94.727075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.038342 # Actual altitude: 76.038342 # Commanded vehicle depth: 94.727075 # Seafloor depth: -169.727075 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 304.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.236269 meters # Minimum depth: 174.226276 meters looking forward 50.000000 meters along route # Maximum depth: 181.517410 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 99.226276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566947; longitude = -121.220655; captureRadius = 10; duration = 100; initialDepth = 100.091887; finalDepth = 99.226276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 99.226276 # Seafloor depth: -174.226276 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.809535 meters # Minimum depth: 175.091887 meters looking forward 50.000000 meters along route # Maximum depth: 183.176969 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 100.091887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566566; longitude = -121.220955; captureRadius = 10; duration = 101; initialDepth = 103.866654; finalDepth = 100.091887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.091732 # Actual altitude: 82.091732 # Commanded vehicle depth: 100.091887 # Seafloor depth: -182.183619 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 328.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.862558 meters # Minimum depth: 178.866654 meters looking forward 50.000000 meters along route # Maximum depth: 183.096889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 103.866654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566181; longitude = -121.221258; captureRadius = 10; duration = 101; initialDepth = 105.115003; finalDepth = 103.866654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.091732 # Actual altitude: 82.091732 # Commanded vehicle depth: 103.866654 # Seafloor depth: -180.079931 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 328.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.183498 meters # Minimum depth: 180.115003 meters looking forward 50.000000 meters along route # Maximum depth: 186.237461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 105.115003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565795; longitude = -121.221561; captureRadius = 10; duration = 100; initialDepth = 108.609069; finalDepth = 105.115003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.379741 # Actual altitude: 78.379741 # Commanded vehicle depth: 105.115003 # Seafloor depth: -183.494744 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495072 meters # Minimum depth: 183.609069 meters looking forward 50.000000 meters along route # Maximum depth: 192.300758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 108.609069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565415; longitude = -121.221860; captureRadius = 10; duration = 106; initialDepth = 116.185170; finalDepth = 108.609069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.379741 # Actual altitude: 78.379741 # Commanded vehicle depth: 108.609069 # Seafloor depth: -183.609069 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495142 meters # Minimum depth: 191.185170 meters looking forward 50.000000 meters along route # Maximum depth: 194.440940 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 116.185170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565009; longitude = -121.222179; captureRadius = 10; duration = 106; initialDepth = 119.443044; finalDepth = 116.185170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.55707 # Actual altitude: 76.55707 # Commanded vehicle depth: 116.18517 # Seafloor depth: -192.742240 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.414213 meters # Minimum depth: 194.443044 meters looking forward 50.000000 meters along route # Maximum depth: 201.307275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 119.443044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564603; longitude = -121.222498; captureRadius = 10; duration = 110; initialDepth = 120.979900; finalDepth = 119.443044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.55707 # Actual altitude: 76.55707 # Commanded vehicle depth: 119.443044 # Seafloor depth: -194.443044 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.576283 meters # Minimum depth: 195.979900 meters looking forward 50.000000 meters along route # Maximum depth: 200.766271 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 120.979900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564183; longitude = -121.222829; captureRadius = 10; duration = 103; initialDepth = 120.428694; finalDepth = 120.979900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.786371 # Actual altitude: 79.786371 # Commanded vehicle depth: 120.9799 # Seafloor depth: -200.766271 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.096595 meters # Minimum depth: 195.428694 meters looking forward 50.000000 meters along route # Maximum depth: 202.458441 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 120.428694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563792; longitude = -121.223136; captureRadius = 10; duration = 100; initialDepth = 122.984418; finalDepth = 120.428694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.786371 # Actual altitude: 79.786371 # Commanded vehicle depth: 120.428694 # Seafloor depth: -195.428694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.950242 meters # Minimum depth: 197.984418 meters looking forward 50.000000 meters along route # Maximum depth: 200.762000 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 122.984418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563412; longitude = -121.223435; captureRadius = 10; duration = 101; initialDepth = 124.334599; finalDepth = 122.984418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.777582 # Actual altitude: 77.777582 # Commanded vehicle depth: 122.984418 # Seafloor depth: -200.762000 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.722890 meters # Minimum depth: 199.334599 meters looking forward 50.000000 meters along route # Maximum depth: 204.887046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 124.334599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563026; longitude = -121.223739; captureRadius = 10; duration = 101; initialDepth = 119.826550; finalDepth = 124.334599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.777582 # Actual altitude: 77.777582 # Commanded vehicle depth: 124.334599 # Seafloor depth: -199.449252 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.324198 meters # Minimum depth: 194.826550 meters looking forward 50.000000 meters along route # Maximum depth: 204.587477 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 119.826550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562641; longitude = -121.224042; captureRadius = 10; duration = 100; initialDepth = 126.782337; finalDepth = 119.826550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.282396 # Actual altitude: 84.282396 # Commanded vehicle depth: 119.82655 # Seafloor depth: -204.108946 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 337.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495618 meters # Minimum depth: 201.782337 meters looking forward 50.000000 meters along route # Maximum depth: 211.072369 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 126.782337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562260; longitude = -121.224342; captureRadius = 10; duration = 106; initialDepth = 129.302506; finalDepth = 126.782337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.282396 # Actual altitude: 84.282396 # Commanded vehicle depth: 126.782337 # Seafloor depth: -201.782337 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 337.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495689 meters # Minimum depth: 204.302506 meters looking forward 50.000000 meters along route # Maximum depth: 209.108725 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 129.302506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561854; longitude = -121.224661; captureRadius = 10; duration = 106; initialDepth = 128.988766; finalDepth = 129.302506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.806219 # Actual altitude: 79.806219 # Commanded vehicle depth: 129.302506 # Seafloor depth: -209.108725 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.274591 meters # Minimum depth: 203.988766 meters looking forward 50.000000 meters along route # Maximum depth: 210.397980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 128.988766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561448; longitude = -121.224980; captureRadius = 10; duration = 110; initialDepth = 129.570484; finalDepth = 128.988766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.806219 # Actual altitude: 79.806219 # Commanded vehicle depth: 128.988766 # Seafloor depth: -205.592329 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.716998 meters # Minimum depth: 204.570484 meters looking forward 50.000000 meters along route # Maximum depth: 213.047386 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 129.570484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561029; longitude = -121.225309; captureRadius = 10; duration = 103; initialDepth = 135.992718; finalDepth = 129.570484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.603563 # Actual altitude: 76.603563 # Commanded vehicle depth: 129.570484 # Seafloor depth: -204.570484 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495900 meters # Minimum depth: 210.992718 meters looking forward 50.000000 meters along route # Maximum depth: 213.758868 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 135.992718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560637; longitude = -121.225618; captureRadius = 10; duration = 106; initialDepth = 138.520265; finalDepth = 135.992718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 135.992718 # Seafloor depth: -210.992718 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.495970 meters # Minimum depth: 213.520265 meters looking forward 50.000000 meters along route # Maximum depth: 219.492777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 138.520265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560232; longitude = -121.225937; captureRadius = 10; duration = 106; initialDepth = 141.977139; finalDepth = 138.520265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 138.520265 # Seafloor depth: -213.520265 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.882338 meters # Minimum depth: 216.977139 meters looking forward 50.000000 meters along route # Maximum depth: 219.389919 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 141.977139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559826; longitude = -121.226256; captureRadius = 10; duration = 107; initialDepth = 140.791732; finalDepth = 141.977139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.41278 # Actual altitude: 77.41278 # Commanded vehicle depth: 141.977139 # Seafloor depth: -219.389919 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.458758 meters # Minimum depth: 215.791732 meters looking forward 50.000000 meters along route # Maximum depth: 220.101221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 140.791732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559417; longitude = -121.226577; captureRadius = 10; duration = 110; initialDepth = 141.785310; finalDepth = 140.791732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.682777 # Actual altitude: 77.682777 # Commanded vehicle depth: 140.791732 # Seafloor depth: -218.474509 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.147236 meters # Minimum depth: 216.785310 meters looking forward 50.000000 meters along route # Maximum depth: 221.433973 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 141.785310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558997; longitude = -121.226908; captureRadius = 10; duration = 102; initialDepth = 146.401244; finalDepth = 141.785310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.682777 # Actual altitude: 77.682777 # Commanded vehicle depth: 141.78531 # Seafloor depth: -216.993227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.527350 meters # Minimum depth: 221.401244 meters looking forward 50.000000 meters along route # Maximum depth: 223.529284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 146.401244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558609; longitude = -121.227213; captureRadius = 10; duration = 101; initialDepth = 141.386843; finalDepth = 146.401244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.207917 # Actual altitude: 75.207917 # Commanded vehicle depth: 146.401244 # Seafloor depth: -221.401244 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.521183 meters # Minimum depth: 216.386843 meters looking forward 50.000000 meters along route # Maximum depth: 224.230374 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 141.386843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558226; longitude = -121.227514; captureRadius = 10; duration = 101; initialDepth = 149.952091; finalDepth = 141.386843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.559628 # Actual altitude: 81.559628 # Commanded vehicle depth: 141.386843 # Seafloor depth: -222.946471 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 326.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.496384 meters # Minimum depth: 224.952091 meters looking forward 50.000000 meters along route # Maximum depth: 230.055080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 149.952091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557843; longitude = -121.227816; captureRadius = 10; duration = 106; initialDepth = 153.747421; finalDepth = 149.952091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.559628 # Actual altitude: 81.559628 # Commanded vehicle depth: 149.952091 # Seafloor depth: -226.466098 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 326.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.496454 meters # Minimum depth: 228.747421 meters looking forward 50.000000 meters along route # Maximum depth: 235.675749 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 153.747421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557437; longitude = -121.228135; captureRadius = 10; duration = 106; initialDepth = 153.006682; finalDepth = 153.747421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.514007 # Actual altitude: 76.514007 # Commanded vehicle depth: 153.747421 # Seafloor depth: -229.178302 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 306.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.079116 meters # Minimum depth: 228.006682 meters looking forward 50.000000 meters along route # Maximum depth: 235.843192 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 153.006682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557031; longitude = -121.228454; captureRadius = 10; duration = 110; initialDepth = 153.853205; finalDepth = 153.006682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.83651 # Actual altitude: 82.83651 # Commanded vehicle depth: 153.006682 # Seafloor depth: -235.843192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 331.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.914003 meters # Minimum depth: 228.853205 meters looking forward 50.000000 meters along route # Maximum depth: 232.863201 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 153.853205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556614; longitude = -121.228782; captureRadius = 10; duration = 103; initialDepth = 158.912652; finalDepth = 153.853205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.83651 # Actual altitude: 82.83651 # Commanded vehicle depth: 153.853205 # Seafloor depth: -230.576446 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 331.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.496666 meters # Minimum depth: 233.912652 meters looking forward 50.000000 meters along route # Maximum depth: 236.476655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 158.912652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556220; longitude = -121.229092; captureRadius = 10; duration = 106; initialDepth = 159.975298; finalDepth = 158.912652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.723241 # Actual altitude: 76.723241 # Commanded vehicle depth: 158.912652 # Seafloor depth: -233.912652 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.496735 meters # Minimum depth: 234.975298 meters looking forward 50.000000 meters along route # Maximum depth: 236.888083 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 159.975298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555814; longitude = -121.229411; captureRadius = 10; duration = 106; initialDepth = 157.500515; finalDepth = 159.975298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.134935 # Actual altitude: 75.134935 # Commanded vehicle depth: 159.975298 # Seafloor depth: -235.110233 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.686842 meters # Minimum depth: 232.500515 meters looking forward 50.000000 meters along route # Maximum depth: 238.466650 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 157.500515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555409; longitude = -121.229730; captureRadius = 10; duration = 107; initialDepth = 158.068038; finalDepth = 157.500515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.504604 # Actual altitude: 79.504604 # Commanded vehicle depth: 157.500515 # Seafloor depth: -237.005119 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 318.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.459551 meters # Minimum depth: 233.068038 meters looking forward 50.000000 meters along route # Maximum depth: 247.375568 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 158.068038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555002; longitude = -121.230050; captureRadius = 10; duration = 110; initialDepth = 167.767815; finalDepth = 158.068038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.504604 # Actual altitude: 79.504604 # Commanded vehicle depth: 158.068038 # Seafloor depth: -233.068038 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 318.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.344235 meters # Minimum depth: 242.767815 meters looking forward 50.000000 meters along route # Maximum depth: 244.923644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.767815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554581; longitude = -121.230381; captureRadius = 10; duration = 102; initialDepth = 169.609469; finalDepth = 167.767815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.851339 # Actual altitude: 75.851339 # Commanded vehicle depth: 167.767815 # Seafloor depth: -243.619154 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 303.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.331805 meters # Minimum depth: 244.609469 meters looking forward 50.000000 meters along route # Maximum depth: 251.506602 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.609469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554192; longitude = -121.230687; captureRadius = 10; duration = 100; initialDepth = 169.431261; finalDepth = 169.609469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.851339 # Actual altitude: 75.851339 # Commanded vehicle depth: 169.609469 # Seafloor depth: -244.609469 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 303.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.718174 meters # Minimum depth: 244.431261 meters looking forward 50.000000 meters along route # Maximum depth: 251.106711 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.431261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553810; longitude = -121.230987; captureRadius = 10; duration = 101; initialDepth = 168.236530; finalDepth = 169.431261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.67545 # Actual altitude: 81.67545 # Commanded vehicle depth: 169.431261 # Seafloor depth: -251.106711 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 326.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.958120 meters # Minimum depth: 243.236530 meters looking forward 50.000000 meters along route # Maximum depth: 249.388581 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.236530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553426; longitude = -121.231290; captureRadius = 10; duration = 101; initialDepth = 174.755814; finalDepth = 168.236530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.67545 # Actual altitude: 81.67545 # Commanded vehicle depth: 168.23653 # Seafloor depth: -243.811591 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 326.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.092110 meters # Minimum depth: 249.755814 meters looking forward 50.000000 meters along route # Maximum depth: 251.505649 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.755814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553039; longitude = -121.231594; captureRadius = 10; duration = 100; initialDepth = 175.951140; finalDepth = 174.755814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.575061 # Actual altitude: 75.575061 # Commanded vehicle depth: 174.755814 # Seafloor depth: -249.755814 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 302.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.497282 meters # Minimum depth: 250.951140 meters looking forward 50.000000 meters along route # Maximum depth: 252.385535 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.951140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552659; longitude = -121.231892; captureRadius = 10; duration = 106; initialDepth = 174.815966; finalDepth = 175.951140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.061839 # Actual altitude: 76.061839 # Commanded vehicle depth: 175.95114 # Seafloor depth: -252.012979 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.547198 meters # Minimum depth: 249.815966 meters looking forward 50.000000 meters along route # Maximum depth: 251.062810 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.815966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552254; longitude = -121.232211; captureRadius = 10; duration = 107; initialDepth = 175.449478; finalDepth = 174.815966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.061839 # Actual altitude: 76.061839 # Commanded vehicle depth: 174.815966 # Seafloor depth: -250.787984 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.460118 meters # Minimum depth: 250.449478 meters looking forward 50.000000 meters along route # Maximum depth: 257.027670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.449478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551848; longitude = -121.232531; captureRadius = 10; duration = 110; initialDepth = 181.372567; finalDepth = 175.449478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.972018 # Actual altitude: 75.972018 # Commanded vehicle depth: 175.449478 # Seafloor depth: -250.449478 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 303.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.484952 meters # Minimum depth: 256.372567 meters looking forward 50.000000 meters along route # Maximum depth: 257.691302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.372567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551427; longitude = -121.232861; captureRadius = 10; duration = 102; initialDepth = 182.897624; finalDepth = 181.372567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.914857 # Actual altitude: 75.914857 # Commanded vehicle depth: 181.372567 # Seafloor depth: -257.287424 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.192127 meters # Minimum depth: 257.897624 meters looking forward 50.000000 meters along route # Maximum depth: 263.883175 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.897624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551037; longitude = -121.233168; captureRadius = 10; duration = 100; initialDepth = 186.076533; finalDepth = 182.897624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.914857 # Actual altitude: 75.914857 # Commanded vehicle depth: 182.897624 # Seafloor depth: -257.897624 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.858884 meters # Minimum depth: 261.076533 meters looking forward 50.000000 meters along route # Maximum depth: 263.706187 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.076533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550656; longitude = -121.233468; captureRadius = 10; duration = 101; initialDepth = 187.291475; finalDepth = 186.076533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.725619 # Actual altitude: 75.725619 # Commanded vehicle depth: 186.076533 # Seafloor depth: -261.802152 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.818448 meters # Minimum depth: 262.291475 meters looking forward 50.000000 meters along route # Maximum depth: 265.105660 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.291475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550271; longitude = -121.233771; captureRadius = 10; duration = 101; initialDepth = 189.048159; finalDepth = 187.291475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.725619 # Actual altitude: 75.725619 # Commanded vehicle depth: 187.291475 # Seafloor depth: -262.291475 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.232815 meters # Minimum depth: 264.048159 meters looking forward 50.000000 meters along route # Maximum depth: 265.312249 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.048159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549885; longitude = -121.234074; captureRadius = 10; duration = 100; initialDepth = 188.193292; finalDepth = 189.048159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.907843 # Actual altitude: 75.907843 # Commanded vehicle depth: 189.048159 # Seafloor depth: -264.956002 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.497829 meters # Minimum depth: 263.193292 meters looking forward 50.000000 meters along route # Maximum depth: 265.486924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 188.193292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549504; longitude = -121.234374; captureRadius = 10; duration = 106; initialDepth = 190.160471; finalDepth = 188.193292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.907843 # Actual altitude: 75.907843 # Commanded vehicle depth: 188.193292 # Seafloor depth: -263.580660 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.497899 meters # Minimum depth: 265.160471 meters looking forward 50.000000 meters along route # Maximum depth: 267.925501 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.160471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549099; longitude = -121.234693; captureRadius = 10; duration = 106; initialDepth = 192.216910; finalDepth = 190.160471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.387368 # Actual altitude: 75.387368 # Commanded vehicle depth: 190.160471 # Seafloor depth: -265.160471 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 301.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.370337 meters # Minimum depth: 267.216910 meters looking forward 50.000000 meters along route # Maximum depth: 271.218722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.216910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548693; longitude = -121.235012; captureRadius = 10; duration = 110; initialDepth = 194.225310; finalDepth = 192.216910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.555272 # Actual altitude: 75.555272 # Commanded vehicle depth: 192.21691 # Seafloor depth: -267.772182 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 302.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.625672 meters # Minimum depth: 269.225310 meters looking forward 50.000000 meters along route # Maximum depth: 273.167498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 194.225310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548273; longitude = -121.235342; captureRadius = 10; duration = 103; initialDepth = 192.324637; finalDepth = 194.225310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.035159 # Actual altitude: 77.035159 # Commanded vehicle depth: 194.22531 # Seafloor depth: -271.260469 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 308.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498110 meters # Minimum depth: 267.324637 meters looking forward 50.000000 meters along route # Maximum depth: 274.467245 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.324637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547882; longitude = -121.235650; captureRadius = 10; duration = 106; initialDepth = 196.916333; finalDepth = 192.324637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.425874 # Actual altitude: 81.425874 # Commanded vehicle depth: 192.324637 # Seafloor depth: -273.750511 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498180 meters # Minimum depth: 271.916333 meters looking forward 50.000000 meters along route # Maximum depth: 278.099154 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.916333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547476; longitude = -121.235969; captureRadius = 10; duration = 106; initialDepth = 200.422908; finalDepth = 196.916333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.425874 # Actual altitude: 81.425874 # Commanded vehicle depth: 196.916333 # Seafloor depth: -271.916333 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.978028 meters # Minimum depth: 275.422908 meters looking forward 50.000000 meters along route # Maximum depth: 278.366460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.422908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547070; longitude = -121.236288; captureRadius = 10; duration = 107; initialDepth = 199.313486; finalDepth = 200.422908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.943552 # Actual altitude: 77.943552 # Commanded vehicle depth: 200.422908 # Seafloor depth: -278.366460 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.461049 meters # Minimum depth: 274.313486 meters looking forward 50.000000 meters along route # Maximum depth: 277.922912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.313486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546661; longitude = -121.236610; captureRadius = 10; duration = 110; initialDepth = 202.433398; finalDepth = 199.313486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.943552 # Actual altitude: 77.943552 # Commanded vehicle depth: 199.313486 # Seafloor depth: -276.834505 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.055885 meters # Minimum depth: 277.433398 meters looking forward 50.000000 meters along route # Maximum depth: 285.489610 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.433398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546241; longitude = -121.236941; captureRadius = 10; duration = 102; initialDepth = 198.341000; finalDepth = 202.433398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.521019 # Actual altitude: 77.521019 # Commanded vehicle depth: 202.433398 # Seafloor depth: -277.433398 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 310.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.622902 meters # Minimum depth: 273.341000 meters looking forward 50.000000 meters along route # Maximum depth: 285.927846 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 198.341000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545854; longitude = -121.237245; captureRadius = 10; duration = 101; initialDepth = 203.724983; finalDepth = 198.341000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.586846 # Actual altitude: 87.586846 # Commanded vehicle depth: 198.341 # Seafloor depth: -285.927846 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.429807 meters # Minimum depth: 278.724983 meters looking forward 50.000000 meters along route # Maximum depth: 283.702746 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.724983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545470; longitude = -121.237547; captureRadius = 10; duration = 100; initialDepth = 209.290130; finalDepth = 203.724983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.586846 # Actual altitude: 87.586846 # Commanded vehicle depth: 203.724983 # Seafloor depth: -278.724983 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498594 meters # Minimum depth: 284.290130 meters looking forward 50.000000 meters along route # Maximum depth: 284.844846 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.290130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545087; longitude = -121.237848; captureRadius = 10; duration = 106; initialDepth = 209.434482; finalDepth = 209.290130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.174657 # Actual altitude: 75.174657 # Commanded vehicle depth: 209.29013 # Seafloor depth: -284.464787 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498664 meters # Minimum depth: 284.434482 meters looking forward 50.000000 meters along route # Maximum depth: 287.940327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.434482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544682; longitude = -121.238167; captureRadius = 10; duration = 106; initialDepth = 212.954760; finalDepth = 209.434482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.174657 # Actual altitude: 75.174657 # Commanded vehicle depth: 209.434482 # Seafloor depth: -284.434482 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.174855 meters # Minimum depth: 287.954760 meters looking forward 50.000000 meters along route # Maximum depth: 291.246201 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.954760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544276; longitude = -121.238486; captureRadius = 10; duration = 110; initialDepth = 214.325455; finalDepth = 212.954760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 212.95476 # Seafloor depth: -287.954760 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.822685 meters # Minimum depth: 289.325455 meters looking forward 50.000000 meters along route # Maximum depth: 291.772097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.325455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543858; longitude = -121.238815; captureRadius = 10; duration = 103; initialDepth = 215.312892; finalDepth = 214.325455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.528715 # Actual altitude: 76.528715 # Commanded vehicle depth: 214.325455 # Seafloor depth: -290.854170 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498876 meters # Minimum depth: 290.312892 meters looking forward 50.000000 meters along route # Maximum depth: 292.166046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.312892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543465; longitude = -121.239124; captureRadius = 10; duration = 106; initialDepth = 215.865272; finalDepth = 215.312892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.528715 # Actual altitude: 76.528715 # Commanded vehicle depth: 215.312892 # Seafloor depth: -291.730756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.498945 meters # Minimum depth: 290.865272 meters looking forward 50.000000 meters along route # Maximum depth: 292.298315 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.865272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543059; longitude = -121.239443; captureRadius = 10; duration = 106; initialDepth = 215.953996; finalDepth = 215.865272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.417864 # Actual altitude: 76.417864 # Commanded vehicle depth: 215.865272 # Seafloor depth: -291.771917 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.782525 meters # Minimum depth: 290.953996 meters looking forward 50.000000 meters along route # Maximum depth: 297.239679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.953996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542653; longitude = -121.239762; captureRadius = 10; duration = 107; initialDepth = 215.140912; finalDepth = 215.953996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.906645 # Actual altitude: 75.906645 # Commanded vehicle depth: 215.953996 # Seafloor depth: -291.106083 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.461843 meters # Minimum depth: 290.140912 meters looking forward 50.000000 meters along route # Maximum depth: 296.936818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.140912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542246; longitude = -121.240083; captureRadius = 10; duration = 110; initialDepth = 213.062862; finalDepth = 215.140912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.795906 # Actual altitude: 81.795906 # Commanded vehicle depth: 215.140912 # Seafloor depth: -296.936818 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.252891 meters # Minimum depth: 288.062862 meters looking forward 50.000000 meters along route # Maximum depth: 296.918356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.062862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541825; longitude = -121.240413; captureRadius = 10; duration = 102; initialDepth = 214.748100; finalDepth = 213.062862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.795906 # Actual altitude: 81.795906 # Commanded vehicle depth: 213.062862 # Seafloor depth: -291.764667 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.427350 meters # Minimum depth: 289.748100 meters looking forward 50.000000 meters along route # Maximum depth: 297.517069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.748100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541436; longitude = -121.240719; captureRadius = 10; duration = 100; initialDepth = 220.711109; finalDepth = 214.748100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.768969 # Actual altitude: 82.768969 # Commanded vehicle depth: 214.7481 # Seafloor depth: -297.517069 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 331.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.626805 meters # Minimum depth: 295.711109 meters looking forward 50.000000 meters along route # Maximum depth: 298.007728 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.711109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541054; longitude = -121.241020; captureRadius = 10; duration = 101; initialDepth = 222.732254; finalDepth = 220.711109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.768969 # Actual altitude: 82.768969 # Commanded vehicle depth: 220.711109 # Seafloor depth: -295.711109 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 331.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.053691 meters # Minimum depth: 297.732254 meters looking forward 50.000000 meters along route # Maximum depth: 300.146273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.732254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540670; longitude = -121.241322; captureRadius = 10; duration = 102; initialDepth = 220.284476; finalDepth = 222.732254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 222.732254 # Seafloor depth: -297.732254 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.000714 meters # Minimum depth: 295.284476 meters looking forward 50.000000 meters along route # Maximum depth: 300.876456 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.284476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540283; longitude = -121.241626; captureRadius = 10; duration = 100; initialDepth = 223.001859; finalDepth = 220.284476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.264651 # Actual altitude: 80.264651 # Commanded vehicle depth: 220.284476 # Seafloor depth: -300.549127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 321.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.499492 meters # Minimum depth: 298.001859 meters looking forward 50.000000 meters along route # Maximum depth: 303.155688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.001859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539904; longitude = -121.241924; captureRadius = 10; duration = 106; initialDepth = 226.423775; finalDepth = 223.001859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.264651 # Actual altitude: 80.264651 # Commanded vehicle depth: 223.001859 # Seafloor depth: -300.607125 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 321.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.642877 meters # Minimum depth: 301.423775 meters looking forward 50.000000 meters along route # Maximum depth: 305.999851 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.423775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539498; longitude = -121.242243; captureRadius = 10; duration = 107; initialDepth = 226.901603; finalDepth = 226.423775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.605266 # Actual altitude: 77.605266 # Commanded vehicle depth: 226.423775 # Seafloor depth: -302.850282 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.462409 meters # Minimum depth: 301.901603 meters looking forward 50.000000 meters along route # Maximum depth: 307.367786 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.901603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539092; longitude = -121.242563; captureRadius = 10; duration = 110; initialDepth = 229.164238; finalDepth = 226.901603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.426507 # Actual altitude: 76.426507 # Commanded vehicle depth: 226.901603 # Seafloor depth: -302.708852 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.393614 meters # Minimum depth: 304.164238 meters looking forward 50.000000 meters along route # Maximum depth: 308.344372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 229.164238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538671; longitude = -121.242894; captureRadius = 10; duration = 102; initialDepth = 231.824098; finalDepth = 229.164238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.807249 # Actual altitude: 75.807249 # Commanded vehicle depth: 229.164238 # Seafloor depth: -304.164238 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 303.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.287666 meters # Minimum depth: 306.824098 meters looking forward 50.000000 meters along route # Maximum depth: 308.980374 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 231.824098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538281; longitude = -121.243201; captureRadius = 10; duration = 100; initialDepth = 232.814895; finalDepth = 231.824098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.820643 # Actual altitude: 75.820643 # Commanded vehicle depth: 231.824098 # Seafloor depth: -307.644741 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 303.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.767521 meters # Minimum depth: 307.814895 meters looking forward 50.000000 meters along route # Maximum depth: 312.174566 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 232.814895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537900; longitude = -121.243500; captureRadius = 10; duration = 101; initialDepth = 228.482765; finalDepth = 232.814895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.649536 # Actual altitude: 76.649536 # Commanded vehicle depth: 232.814895 # Seafloor depth: -309.464431 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 306.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.914014 meters # Minimum depth: 303.482765 meters looking forward 50.000000 meters along route # Maximum depth: 307.906393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 228.482765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537515; longitude = -121.243803; captureRadius = 10; duration = 101; initialDepth = 224.946615; finalDepth = 228.482765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.423628 # Actual altitude: 79.423628 # Commanded vehicle depth: 228.482765 # Seafloor depth: -307.906393 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.69; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 317.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.141424 meters # Minimum depth: 299.946615 meters looking forward 50.000000 meters along route # Maximum depth: 308.630746 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 224.946615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537129; longitude = -121.244107; captureRadius = 10; duration = 100; initialDepth = 233.382191; finalDepth = 224.946615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.684131 # Actual altitude: 83.684131 # Commanded vehicle depth: 224.946615 # Seafloor depth: -308.630746 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 334.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.500039 meters # Minimum depth: 308.382191 meters looking forward 50.000000 meters along route # Maximum depth: 312.877320 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.382191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536749; longitude = -121.244406; captureRadius = 10; duration = 107; initialDepth = 233.858970; finalDepth = 233.382191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.684131 # Actual altitude: 83.684131 # Commanded vehicle depth: 233.382191 # Seafloor depth: -308.382191 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 334.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.503225 meters # Minimum depth: 308.858970 meters looking forward 50.000000 meters along route # Maximum depth: 313.188507 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.858970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536343; longitude = -121.244725; captureRadius = 10; duration = 107; initialDepth = 238.173546; finalDepth = 233.858970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 233.85897 # Seafloor depth: -308.858970 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.462977 meters # Minimum depth: 313.173546 meters looking forward 50.000000 meters along route # Maximum depth: 315.758352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 238.173546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535938; longitude = -121.245044; captureRadius = 10; duration = 110; initialDepth = 230.995387; finalDepth = 238.173546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 238.173546 # Seafloor depth: -313.173546 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.534338 meters # Minimum depth: 305.995387 meters looking forward 50.000000 meters along route # Maximum depth: 318.006341 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.995387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535517; longitude = -121.245375; captureRadius = 10; duration = 103; initialDepth = 231.724846; finalDepth = 230.995387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.056932 # Actual altitude: 85.056932 # Commanded vehicle depth: 230.995387 # Seafloor depth: -316.052319 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 340.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.147981 meters # Minimum depth: 306.724846 meters looking forward 50.000000 meters along route # Maximum depth: 318.042397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 231.724846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535126; longitude = -121.245682; captureRadius = 10; duration = 100; initialDepth = 240.894860; finalDepth = 231.724846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.056932 # Actual altitude: 85.056932 # Commanded vehicle depth: 231.724846 # Seafloor depth: -306.724846 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 340.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.908239 meters # Minimum depth: 315.894860 meters looking forward 50.000000 meters along route # Maximum depth: 319.598716 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.894860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534746; longitude = -121.245981; captureRadius = 10; duration = 101; initialDepth = 238.644523; finalDepth = 240.894860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.914914 # Actual altitude: 76.914914 # Commanded vehicle depth: 240.89486 # Seafloor depth: -317.809774 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.774334 meters # Minimum depth: 313.644523 meters looking forward 50.000000 meters along route # Maximum depth: 317.948498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 238.644523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534360; longitude = -121.246285; captureRadius = 10; duration = 101; initialDepth = 240.698722; finalDepth = 238.644523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.407667 # Actual altitude: 77.407667 # Commanded vehicle depth: 238.644523 # Seafloor depth: -316.052190 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.282137 meters # Minimum depth: 315.698722 meters looking forward 50.000000 meters along route # Maximum depth: 317.690469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.698722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533975; longitude = -121.246587; captureRadius = 10; duration = 100; initialDepth = 242.906624; finalDepth = 240.698722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.407667 # Actual altitude: 77.407667 # Commanded vehicle depth: 240.698722 # Seafloor depth: -317.690469 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.500586 meters # Minimum depth: 317.906624 meters looking forward 50.000000 meters along route # Maximum depth: 319.095122 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.906624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533594; longitude = -121.246887; captureRadius = 10; duration = 107; initialDepth = 243.708676; finalDepth = 242.906624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.991747 # Actual altitude: 76.991747 # Commanded vehicle depth: 242.906624 # Seafloor depth: -317.906624 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 307.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.500657 meters # Minimum depth: 318.708676 meters looking forward 50.000000 meters along route # Maximum depth: 320.302745 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 243.708676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533188; longitude = -121.247206; captureRadius = 10; duration = 107; initialDepth = 244.516218; finalDepth = 243.708676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.278093 # Actual altitude: 75.278093 # Commanded vehicle depth: 243.708676 # Seafloor depth: -318.986769 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.326457 meters # Minimum depth: 319.516218 meters looking forward 50.000000 meters along route # Maximum depth: 327.188158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 244.516218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532783; longitude = -121.247525; captureRadius = 10; duration = 110; initialDepth = 239.659575; finalDepth = 244.516218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.278093 # Actual altitude: 75.278093 # Commanded vehicle depth: 244.516218 # Seafloor depth: -319.516218 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.675067 meters # Minimum depth: 314.659575 meters looking forward 50.000000 meters along route # Maximum depth: 327.839899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 239.659575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532363; longitude = -121.247855; captureRadius = 10; duration = 103; initialDepth = 243.412533; finalDepth = 239.659575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.637467 # Actual altitude: 87.637467 # Commanded vehicle depth: 239.659575 # Seafloor depth: -327.297042 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.008292 meters # Minimum depth: 318.412533 meters looking forward 50.000000 meters along route # Maximum depth: 326.452976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 243.412533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531971; longitude = -121.248163; captureRadius = 10; duration = 100; initialDepth = 240.158839; finalDepth = 243.412533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.637467 # Actual altitude: 87.637467 # Commanded vehicle depth: 243.412533 # Seafloor depth: -318.412533 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.048961 meters # Minimum depth: 315.158839 meters looking forward 50.000000 meters along route # Maximum depth: 326.677215 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.158839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531592; longitude = -121.248462; captureRadius = 10; duration = 102; initialDepth = 243.358977; finalDepth = 240.158839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7707 # Actual altitude: 77.7707 # Commanded vehicle depth: 240.158839 # Seafloor depth: -317.929539 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.634651 meters # Minimum depth: 318.358977 meters looking forward 50.000000 meters along route # Maximum depth: 326.727502 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 243.358977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531205; longitude = -121.248766; captureRadius = 10; duration = 101; initialDepth = 248.745497; finalDepth = 243.358977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.368525 # Actual altitude: 83.368525 # Commanded vehicle depth: 243.358977 # Seafloor depth: -326.727502 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 333.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.422853 meters # Minimum depth: 323.745497 meters looking forward 50.000000 meters along route # Maximum depth: 329.948087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 248.745497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530821; longitude = -121.249068; captureRadius = 10; duration = 100; initialDepth = 254.604072; finalDepth = 248.745497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.368525 # Actual altitude: 83.368525 # Commanded vehicle depth: 248.745497 # Seafloor depth: -323.745497 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 333.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.501133 meters # Minimum depth: 329.604072 meters looking forward 50.000000 meters along route # Maximum depth: 332.164339 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 254.604072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530439; longitude = -121.249369; captureRadius = 10; duration = 107; initialDepth = 255.554855; finalDepth = 254.604072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.428897 # Actual altitude: 75.428897 # Commanded vehicle depth: 254.604072 # Seafloor depth: -330.032969 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.501203 meters # Minimum depth: 330.554855 meters looking forward 50.000000 meters along route # Maximum depth: 332.840561 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 255.554855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530033; longitude = -121.249688; captureRadius = 10; duration = 107; initialDepth = 253.656571; finalDepth = 255.554855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.289032 # Actual altitude: 76.289032 # Commanded vehicle depth: 255.554855 # Seafloor depth: -331.843887 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.186821 meters # Minimum depth: 328.656571 meters looking forward 50.000000 meters along route # Maximum depth: 332.853590 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 253.656571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.250007; captureRadius = 10; duration = 110; initialDepth = 255.228568; finalDepth = 253.656571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.197019 # Actual altitude: 79.197019 # Commanded vehicle depth: 253.656571 # Seafloor depth: -332.853590 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 316.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.815797 meters # Minimum depth: 330.228568 meters looking forward 50.000000 meters along route # Maximum depth: 332.377099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 255.228568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529209; longitude = -121.250336; captureRadius = 10; duration = 103; initialDepth = 256.731788; finalDepth = 255.228568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.197019 # Actual altitude: 79.197019 # Commanded vehicle depth: 255.228568 # Seafloor depth: -330.228568 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 316.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.501415 meters # Minimum depth: 331.731788 meters looking forward 50.000000 meters along route # Maximum depth: 333.178842 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.731788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528816; longitude = -121.250645; captureRadius = 10; duration = 107; initialDepth = 257.951094; finalDepth = 256.731788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 256.731788 # Seafloor depth: -331.731788 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.501484 meters # Minimum depth: 332.951094 meters looking forward 50.000000 meters along route # Maximum depth: 333.351282 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 257.951094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528411; longitude = -121.250964; captureRadius = 10; duration = 107; initialDepth = 257.847649; finalDepth = 257.951094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.176829 # Actual altitude: 75.176829 # Commanded vehicle depth: 257.951094 # Seafloor depth: -333.127923 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.794424 meters # Minimum depth: 332.847649 meters looking forward 50.000000 meters along route # Maximum depth: 335.981983 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 257.847649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528005; longitude = -121.251283; captureRadius = 10; duration = 107; initialDepth = 260.660392; finalDepth = 257.847649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.176829 # Actual altitude: 75.176829 # Commanded vehicle depth: 257.847649 # Seafloor depth: -332.847649 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.464475 meters # Minimum depth: 335.660392 meters looking forward 50.000000 meters along route # Maximum depth: 337.187917 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 260.660392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527597; longitude = -121.251604; captureRadius = 10; duration = 110; initialDepth = 261.613745; finalDepth = 260.660392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 260.660392 # Seafloor depth: -335.660392 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.245977 meters # Minimum depth: 336.613745 meters looking forward 50.000000 meters along route # Maximum depth: 339.167955 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 261.613745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527177; longitude = -121.251934; captureRadius = 10; duration = 102; initialDepth = 264.496480; finalDepth = 261.613745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 261.613745 # Seafloor depth: -336.613745 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.501766 meters # Minimum depth: 339.496480 meters looking forward 50.000000 meters along route # Maximum depth: 341.535346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 264.496480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526788; longitude = -121.252240; captureRadius = 10; duration = 107; initialDepth = 265.714303; finalDepth = 264.496480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.190948 # Actual altitude: 75.190948 # Commanded vehicle depth: 264.49648 # Seafloor depth: -339.687428 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.483387 meters # Minimum depth: 340.714303 meters looking forward 50.000000 meters along route # Maximum depth: 343.546969 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 265.714303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526382; longitude = -121.252559; captureRadius = 10; duration = 110; initialDepth = 267.034546; finalDepth = 265.714303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.190948 # Actual altitude: 75.190948 # Commanded vehicle depth: 265.714303 # Seafloor depth: -340.720747 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 67.271540 meters # Minimum depth: 342.034546 meters looking forward 50.000000 meters along route # Maximum depth: 345.042268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 267.034546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525962; longitude = -121.252890; captureRadius = 10; duration = 134; # abortOnTimeout = True; initialDepth = 268.971530; finalDepth = 267.034546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.006444 # Actual altitude: 75.006444 # Commanded vehicle depth: 267.034546 # Seafloor depth: -342.034546 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.217495 meters # Minimum depth: 343.971530 meters looking forward 50.000000 meters along route # Maximum depth: 345.954744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 268.971530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525635; longitude = -121.252265; captureRadius = 10; duration = 100; initialDepth = 270.264871; finalDepth = 268.971530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.588842 # Actual altitude: 75.588842 # Commanded vehicle depth: 268.97153 # Seafloor depth: -344.560372 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.641087 meters # Minimum depth: 345.264871 meters looking forward 50.000000 meters along route # Maximum depth: 346.851759 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 270.264871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525391; longitude = -121.251799; captureRadius = 10; duration = 105; initialDepth = 269.705165; finalDepth = 270.264871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.652499 # Actual altitude: 75.652499 # Commanded vehicle depth: 270.264871 # Seafloor depth: -345.917370 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 43.135729 meters # Minimum depth: 344.705165 meters looking forward 50.000000 meters along route # Maximum depth: 346.895927 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 269.705165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525135; longitude = -121.251310; captureRadius = 10; duration = 86; # abortOnTimeout = True; initialDepth = 267.863550; finalDepth = 269.705165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1907619999999 # Actual altitude: 77.1907619999999 # Commanded vehicle depth: 269.705165 # Seafloor depth: -346.895927 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.090474 meters # Minimum depth: 342.863550 meters looking forward 50.000000 meters along route # Maximum depth: 344.878124 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 267.863550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525462; longitude = -121.251052; captureRadius = 10; duration = 100; initialDepth = 265.333189; finalDepth = 267.863550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1907619999999 # Actual altitude: 77.1907619999999 # Commanded vehicle depth: 267.86355 # Seafloor depth: -344.845862 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525914 meters # Minimum depth: 340.333189 meters looking forward 50.000000 meters along route # Maximum depth: 344.822715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 265.333189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525842; longitude = -121.250753; captureRadius = 10; duration = 107; initialDepth = 264.021532; finalDepth = 265.333189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.036464 # Actual altitude: 79.036464 # Commanded vehicle depth: 265.333189 # Seafloor depth: -344.369653 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525844 meters # Minimum depth: 339.021532 meters looking forward 50.000000 meters along route # Maximum depth: 340.579287 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 264.021532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526247; longitude = -121.250434; captureRadius = 10; duration = 107; initialDepth = 262.773226; finalDepth = 264.021532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.036464 # Actual altitude: 79.036464 # Commanded vehicle depth: 264.021532 # Seafloor depth: -340.198453 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.242218 meters # Minimum depth: 337.773226 meters looking forward 50.000000 meters along route # Maximum depth: 339.531441 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 262.773226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526653; longitude = -121.250114; captureRadius = 10; duration = 110; initialDepth = 261.513506; finalDepth = 262.773226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.618319 # Actual altitude: 76.618319 # Commanded vehicle depth: 262.773226 # Seafloor depth: -339.391545 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.809259 meters # Minimum depth: 336.513506 meters looking forward 50.000000 meters along route # Maximum depth: 339.584797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 261.513506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527071; longitude = -121.249785; captureRadius = 10; duration = 103; initialDepth = 258.637635; finalDepth = 261.513506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.810586 # Actual altitude: 76.810586 # Commanded vehicle depth: 261.513506 # Seafloor depth: -338.324092 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525633 meters # Minimum depth: 333.637635 meters looking forward 50.000000 meters along route # Maximum depth: 335.576412 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 258.637635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527464; longitude = -121.249475; captureRadius = 10; duration = 107; initialDepth = 256.849815; finalDepth = 258.637635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.810586 # Actual altitude: 76.810586 # Commanded vehicle depth: 258.637635 # Seafloor depth: -334.628807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525562 meters # Minimum depth: 331.849815 meters looking forward 50.000000 meters along route # Maximum depth: 338.097739 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.849815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527870; longitude = -121.249156; captureRadius = 10; duration = 107; initialDepth = 255.232683; finalDepth = 256.849815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.044704 # Actual altitude: 79.044704 # Commanded vehicle depth: 256.849815 # Seafloor depth: -335.894519 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525492 meters # Minimum depth: 330.232683 meters looking forward 50.000000 meters along route # Maximum depth: 333.401057 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 255.232683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.248836; captureRadius = 10; duration = 107; initialDepth = 256.813386; finalDepth = 255.232683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.044704 # Actual altitude: 79.044704 # Commanded vehicle depth: 255.232683 # Seafloor depth: -331.416513 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.401561 meters # Minimum depth: 331.813386 meters looking forward 50.000000 meters along route # Maximum depth: 334.542095 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.813386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528681; longitude = -121.248517; captureRadius = 10; duration = 110; initialDepth = 257.062594; finalDepth = 256.813386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.495781 # Actual altitude: 76.495781 # Commanded vehicle depth: 256.813386 # Seafloor depth: -333.309167 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 305.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.649211 meters # Minimum depth: 332.062594 meters looking forward 50.000000 meters along route # Maximum depth: 333.870743 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 257.062594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529101; longitude = -121.248186; captureRadius = 10; duration = 103; initialDepth = 256.469628; finalDepth = 257.062594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.808149 # Actual altitude: 76.808149 # Commanded vehicle depth: 257.062594 # Seafloor depth: -333.870743 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525280 meters # Minimum depth: 331.469628 meters looking forward 50.000000 meters along route # Maximum depth: 332.196445 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.469628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529492; longitude = -121.247878; captureRadius = 10; duration = 107; initialDepth = 252.579147; finalDepth = 256.469628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.808149 # Actual altitude: 76.808149 # Commanded vehicle depth: 256.469628 # Seafloor depth: -332.082930 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.525209 meters # Minimum depth: 327.579147 meters looking forward 50.000000 meters along route # Maximum depth: 331.567022 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 252.579147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529898; longitude = -121.247558; captureRadius = 10; duration = 107; initialDepth = 245.952565; finalDepth = 252.579147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.337387 # Actual altitude: 78.337387 # Commanded vehicle depth: 252.579147 # Seafloor depth: -330.916534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.682240 meters # Minimum depth: 320.952565 meters looking forward 50.000000 meters along route # Maximum depth: 331.817486 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 245.952565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530304; longitude = -121.247239; captureRadius = 10; duration = 107; initialDepth = 256.823847; finalDepth = 245.952565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.030483 # Actual altitude: 81.030483 # Commanded vehicle depth: 245.952565 # Seafloor depth: -326.983048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 324.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.403802 meters # Minimum depth: 331.823847 meters looking forward 50.000000 meters along route # Maximum depth: 337.270171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 256.823847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530710; longitude = -121.246918; captureRadius = 10; duration = 110; initialDepth = 254.333932; finalDepth = 256.823847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.030483 # Actual altitude: 81.030483 # Commanded vehicle depth: 256.823847 # Seafloor depth: -331.860107 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 324.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.489164 meters # Minimum depth: 329.333932 meters looking forward 50.000000 meters along route # Maximum depth: 332.047435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 254.333932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531130; longitude = -121.246587; captureRadius = 10; duration = 102; initialDepth = 248.727784; finalDepth = 254.333932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.713503 # Actual altitude: 77.713503 # Commanded vehicle depth: 254.333932 # Seafloor depth: -332.047435 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 310.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.084276 meters # Minimum depth: 323.727784 meters looking forward 50.000000 meters along route # Maximum depth: 329.233228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 248.727784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531521; longitude = -121.246280; captureRadius = 10; duration = 100; initialDepth = 250.362706; finalDepth = 248.727784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.505444 # Actual altitude: 80.505444 # Commanded vehicle depth: 248.727784 # Seafloor depth: -329.233228 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 322.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.018306 meters # Minimum depth: 325.362706 meters looking forward 50.000000 meters along route # Maximum depth: 327.592202 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 250.362706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531900; longitude = -121.245981; captureRadius = 10; duration = 102; initialDepth = 249.541796; finalDepth = 250.362706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.505444 # Actual altitude: 80.505444 # Commanded vehicle depth: 250.362706 # Seafloor depth: -325.362706 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 322.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.554881 meters # Minimum depth: 324.541796 meters looking forward 50.000000 meters along route # Maximum depth: 325.661393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 249.541796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532287; longitude = -121.245676; captureRadius = 10; duration = 101; initialDepth = 249.039577; finalDepth = 249.541796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.497091 # Actual altitude: 75.497091 # Commanded vehicle depth: 249.541796 # Seafloor depth: -325.038887 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.547449 meters # Minimum depth: 324.039577 meters looking forward 50.000000 meters along route # Maximum depth: 328.103722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 249.039577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532670; longitude = -121.245375; captureRadius = 10; duration = 101; initialDepth = 242.532551; finalDepth = 249.039577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.231173 # Actual altitude: 76.231173 # Commanded vehicle depth: 249.039577 # Seafloor depth: -325.270750 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 304.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.025483 meters # Minimum depth: 317.532551 meters looking forward 50.000000 meters along route # Maximum depth: 322.489935 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.532551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533053; longitude = -121.245073; captureRadius = 10; duration = 102; initialDepth = 236.076994; finalDepth = 242.532551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.957384 # Actual altitude: 79.957384 # Commanded vehicle depth: 242.532551 # Seafloor depth: -322.489935 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 319.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.076596 meters # Minimum depth: 311.076994 meters looking forward 50.000000 meters along route # Maximum depth: 323.239421 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 236.076994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533440; longitude = -121.244768; captureRadius = 10; duration = 100; initialDepth = 240.453898; finalDepth = 236.076994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.765581 # Actual altitude: 85.765581 # Commanded vehicle depth: 236.076994 # Seafloor depth: -321.842575 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 343.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.524528 meters # Minimum depth: 315.453898 meters looking forward 50.000000 meters along route # Maximum depth: 326.515002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 240.453898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533819; longitude = -121.244469; captureRadius = 10; duration = 107; initialDepth = 247.688877; finalDepth = 240.453898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.765581 # Actual altitude: 85.765581 # Commanded vehicle depth: 240.453898 # Seafloor depth: -315.453898 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 343.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.524458 meters # Minimum depth: 322.688877 meters looking forward 50.000000 meters along route # Maximum depth: 325.623258 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 247.688877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534225; longitude = -121.244150; captureRadius = 10; duration = 107; initialDepth = 242.791496; finalDepth = 247.688877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.934381 # Actual altitude: 77.934381 # Commanded vehicle depth: 247.688877 # Seafloor depth: -325.623258 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.253366 meters # Minimum depth: 317.791496 meters looking forward 50.000000 meters along route # Maximum depth: 323.108664 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.791496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534631; longitude = -121.243830; captureRadius = 10; duration = 110; initialDepth = 241.161018; finalDepth = 242.791496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.317168 # Actual altitude: 80.317168 # Commanded vehicle depth: 242.791496 # Seafloor depth: -323.108664 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.795338 meters # Minimum depth: 316.161018 meters looking forward 50.000000 meters along route # Maximum depth: 317.698385 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 241.161018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535049; longitude = -121.243500; captureRadius = 10; duration = 103; initialDepth = 233.184161; finalDepth = 241.161018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.317168 # Actual altitude: 80.317168 # Commanded vehicle depth: 241.161018 # Seafloor depth: -317.698385 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.524246 meters # Minimum depth: 308.184161 meters looking forward 50.000000 meters along route # Maximum depth: 317.852011 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.184161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535442; longitude = -121.243191; captureRadius = 10; duration = 107; initialDepth = 230.073396; finalDepth = 233.184161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.66785 # Actual altitude: 84.66785 # Commanded vehicle depth: 233.184161 # Seafloor depth: -317.852011 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 338.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.524175 meters # Minimum depth: 305.073396 meters looking forward 50.000000 meters along route # Maximum depth: 312.585242 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.073396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535848; longitude = -121.242872; captureRadius = 10; duration = 107; initialDepth = 232.252204; finalDepth = 230.073396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.66785 # Actual altitude: 84.66785 # Commanded vehicle depth: 230.073396 # Seafloor depth: -308.778959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 338.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.534079 meters # Minimum depth: 307.252204 meters looking forward 50.000000 meters along route # Maximum depth: 314.461617 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 232.252204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536253; longitude = -121.242552; captureRadius = 10; duration = 107; initialDepth = 237.254368; finalDepth = 232.252204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.705563 # Actual altitude: 78.705563 # Commanded vehicle depth: 232.252204 # Seafloor depth: -307.252204 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.402732 meters # Minimum depth: 312.254368 meters looking forward 50.000000 meters along route # Maximum depth: 316.876209 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 237.254368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536659; longitude = -121.242233; captureRadius = 10; duration = 110; initialDepth = 237.182339; finalDepth = 237.254368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.596608 # Actual altitude: 76.596608 # Commanded vehicle depth: 237.254368 # Seafloor depth: -313.850976 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.635293 meters # Minimum depth: 312.182339 meters looking forward 50.000000 meters along route # Maximum depth: 313.076790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 237.182339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537079; longitude = -121.241902; captureRadius = 10; duration = 103; initialDepth = 231.341358; finalDepth = 237.182339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.596608 # Actual altitude: 76.596608 # Commanded vehicle depth: 237.182339 # Seafloor depth: -312.187946 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.523894 meters # Minimum depth: 306.341358 meters looking forward 50.000000 meters along route # Maximum depth: 313.313396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 231.341358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537470; longitude = -121.241594; captureRadius = 10; duration = 107; initialDepth = 233.793145; finalDepth = 231.341358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.180478 # Actual altitude: 81.180478 # Commanded vehicle depth: 231.341358 # Seafloor depth: -312.521836 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.523823 meters # Minimum depth: 308.793145 meters looking forward 50.000000 meters along route # Maximum depth: 315.979774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.793145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537876; longitude = -121.241274; captureRadius = 10; duration = 107; initialDepth = 230.133616; finalDepth = 233.793145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.180478 # Actual altitude: 81.180478 # Commanded vehicle depth: 233.793145 # Seafloor depth: -310.402792 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.693429 meters # Minimum depth: 305.133616 meters looking forward 50.000000 meters along route # Maximum depth: 316.753736 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.133616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538281; longitude = -121.240955; captureRadius = 10; duration = 107; initialDepth = 233.090796; finalDepth = 230.133616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.446207 # Actual altitude: 86.446207 # Commanded vehicle depth: 230.133616 # Seafloor depth: -316.579823 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 345.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.402366 meters # Minimum depth: 308.090796 meters looking forward 50.000000 meters along route # Maximum depth: 313.217742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.090796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538688; longitude = -121.240634; captureRadius = 10; duration = 110; initialDepth = 235.768688; finalDepth = 233.090796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.446207 # Actual altitude: 86.446207 # Commanded vehicle depth: 233.090796 # Seafloor depth: -310.034034 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 345.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.475251 meters # Minimum depth: 310.768688 meters looking forward 50.000000 meters along route # Maximum depth: 314.602649 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 235.768688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539108; longitude = -121.240303; captureRadius = 10; duration = 102; initialDepth = 230.962261; finalDepth = 235.768688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.076023 # Actual altitude: 78.076023 # Commanded vehicle depth: 235.768688 # Seafloor depth: -313.844711 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.095559 meters # Minimum depth: 305.962261 meters looking forward 50.000000 meters along route # Maximum depth: 309.884314 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.962261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539498; longitude = -121.239996; captureRadius = 10; duration = 100; initialDepth = 225.602312; finalDepth = 230.962261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.076023 # Actual altitude: 78.076023 # Commanded vehicle depth: 230.962261 # Seafloor depth: -308.577650 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.004404 meters # Minimum depth: 300.602312 meters looking forward 50.000000 meters along route # Maximum depth: 309.451861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.602312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539878; longitude = -121.239697; captureRadius = 10; duration = 102; initialDepth = 225.614047; finalDepth = 225.602312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.55975 # Actual altitude: 79.55975 # Commanded vehicle depth: 225.602312 # Seafloor depth: -305.162062 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.566151 meters # Minimum depth: 300.614047 meters looking forward 50.000000 meters along route # Maximum depth: 309.562399 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.614047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540265; longitude = -121.239392; captureRadius = 10; duration = 101; initialDepth = 225.036605; finalDepth = 225.614047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.723799 # Actual altitude: 83.723799 # Commanded vehicle depth: 225.614047 # Seafloor depth: -309.337846 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 334.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.533561 meters # Minimum depth: 300.036605 meters looking forward 50.000000 meters along route # Maximum depth: 304.909246 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.036605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540648; longitude = -121.239091; captureRadius = 10; duration = 101; initialDepth = 223.646752; finalDepth = 225.036605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.723799 # Actual altitude: 83.723799 # Commanded vehicle depth: 225.036605 # Seafloor depth: -300.295528 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 334.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.036741 meters # Minimum depth: 298.646752 meters looking forward 50.000000 meters along route # Maximum depth: 303.932567 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.646752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541031; longitude = -121.238789; captureRadius = 10; duration = 102; initialDepth = 227.780128; finalDepth = 223.646752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.009373 # Actual altitude: 77.009373 # Commanded vehicle depth: 223.646752 # Seafloor depth: -300.656125 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.062719 meters # Minimum depth: 302.780128 meters looking forward 50.000000 meters along route # Maximum depth: 304.007290 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.780128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541418; longitude = -121.238484; captureRadius = 10; duration = 100; initialDepth = 227.716274; finalDepth = 227.780128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.009373 # Actual altitude: 77.009373 # Commanded vehicle depth: 227.780128 # Seafloor depth: -302.848787 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.523142 meters # Minimum depth: 302.716274 meters looking forward 50.000000 meters along route # Maximum depth: 304.832235 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.716274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541797; longitude = -121.238185; captureRadius = 10; duration = 107; initialDepth = 220.059493; finalDepth = 227.716274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.265057 # Actual altitude: 76.265057 # Commanded vehicle depth: 227.716274 # Seafloor depth: -303.981331 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.523071 meters # Minimum depth: 295.059493 meters looking forward 50.000000 meters along route # Maximum depth: 305.311606 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.059493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542203; longitude = -121.237866; captureRadius = 10; duration = 107; initialDepth = 222.276768; finalDepth = 220.059493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.878298 # Actual altitude: 84.878298 # Commanded vehicle depth: 220.059493 # Seafloor depth: -304.937791 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 339.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.264515 meters # Minimum depth: 297.276768 meters looking forward 50.000000 meters along route # Maximum depth: 305.699316 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.276768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542608; longitude = -121.237546; captureRadius = 10; duration = 110; initialDepth = 224.451355; finalDepth = 222.276768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.878298 # Actual altitude: 84.878298 # Commanded vehicle depth: 222.276768 # Seafloor depth: -297.276768 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 339.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.781416 meters # Minimum depth: 299.451355 meters looking forward 50.000000 meters along route # Maximum depth: 306.397995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 224.451355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543027; longitude = -121.237216; captureRadius = 10; duration = 103; initialDepth = 223.839317; finalDepth = 224.451355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.649995 # Actual altitude: 80.649995 # Commanded vehicle depth: 224.451355 # Seafloor depth: -305.101350 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.522859 meters # Minimum depth: 298.839317 meters looking forward 50.000000 meters along route # Maximum depth: 299.977236 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 223.839317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543420; longitude = -121.236907; captureRadius = 10; duration = 107; initialDepth = 222.598453; finalDepth = 223.839317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.649995 # Actual altitude: 80.649995 # Commanded vehicle depth: 223.839317 # Seafloor depth: -299.047575 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.522790 meters # Minimum depth: 297.598453 meters looking forward 50.000000 meters along route # Maximum depth: 299.135020 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 222.598453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543825; longitude = -121.236588; captureRadius = 10; duration = 107; initialDepth = 217.928052; finalDepth = 222.598453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.381061 # Actual altitude: 76.381061 # Commanded vehicle depth: 222.598453 # Seafloor depth: -298.979514 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.545272 meters # Minimum depth: 292.928052 meters looking forward 50.000000 meters along route # Maximum depth: 299.843348 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 217.928052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544231; longitude = -121.236268; captureRadius = 10; duration = 107; initialDepth = 212.685951; finalDepth = 217.928052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.495925 # Actual altitude: 81.495925 # Commanded vehicle depth: 217.928052 # Seafloor depth: -299.423977 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 325.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.401296 meters # Minimum depth: 287.685951 meters looking forward 50.000000 meters along route # Maximum depth: 298.054296 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 212.685951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544637; longitude = -121.235948; captureRadius = 10; duration = 110; initialDepth = 220.609280; finalDepth = 212.685951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.495925 # Actual altitude: 81.495925 # Commanded vehicle depth: 212.685951 # Seafloor depth: -292.926186 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 325.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.621377 meters # Minimum depth: 295.609280 meters looking forward 50.000000 meters along route # Maximum depth: 299.390760 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 220.609280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545057; longitude = -121.235618; captureRadius = 10; duration = 103; initialDepth = 219.607427; finalDepth = 220.609280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.240235 # Actual altitude: 80.240235 # Commanded vehicle depth: 220.60928 # Seafloor depth: -298.673283 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.522507 meters # Minimum depth: 294.607427 meters looking forward 50.000000 meters along route # Maximum depth: 296.081604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 219.607427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545448; longitude = -121.235309; captureRadius = 10; duration = 107; initialDepth = 217.996594; finalDepth = 219.607427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.064003 # Actual altitude: 78.064003 # Commanded vehicle depth: 219.607427 # Seafloor depth: -296.081604 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.522437 meters # Minimum depth: 292.996594 meters looking forward 50.000000 meters along route # Maximum depth: 295.015494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 217.996594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545854; longitude = -121.234990; captureRadius = 10; duration = 107; initialDepth = 213.037586; finalDepth = 217.996594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.503208 # Actual altitude: 76.503208 # Commanded vehicle depth: 217.996594 # Seafloor depth: -294.499802 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 306.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.704617 meters # Minimum depth: 288.037586 meters looking forward 50.000000 meters along route # Maximum depth: 293.193444 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.037586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546259; longitude = -121.234670; captureRadius = 10; duration = 107; initialDepth = 215.738754; finalDepth = 213.037586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.155858 # Actual altitude: 80.155858 # Commanded vehicle depth: 213.037586 # Seafloor depth: -293.193444 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 320.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.400932 meters # Minimum depth: 290.738754 meters looking forward 50.000000 meters along route # Maximum depth: 294.958944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.738754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546666; longitude = -121.234350; captureRadius = 10; duration = 110; initialDepth = 214.172720; finalDepth = 215.738754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.155858 # Actual altitude: 80.155858 # Commanded vehicle depth: 215.738754 # Seafloor depth: -291.222705 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 320.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.461338 meters # Minimum depth: 289.172720 meters looking forward 50.000000 meters along route # Maximum depth: 292.751069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.172720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547086; longitude = -121.234019; captureRadius = 10; duration = 102; initialDepth = 209.303314; finalDepth = 214.172720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5783489999999 # Actual altitude: 78.5783489999999 # Commanded vehicle depth: 214.17272 # Seafloor depth: -292.751069 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 314.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.106840 meters # Minimum depth: 284.303314 meters looking forward 50.000000 meters along route # Maximum depth: 288.945197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.303314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547476; longitude = -121.233712; captureRadius = 10; duration = 100; initialDepth = 209.636334; finalDepth = 209.303314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.641883 # Actual altitude: 79.641883 # Commanded vehicle depth: 209.303314 # Seafloor depth: -288.945197 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.89; MB_Bottom_Detect_Filter_Max_Range = 318.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.990505 meters # Minimum depth: 284.636334 meters looking forward 50.000000 meters along route # Maximum depth: 289.693899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.636334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547856; longitude = -121.233413; captureRadius = 10; duration = 101; initialDepth = 208.947574; finalDepth = 209.636334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.641883 # Actual altitude: 79.641883 # Commanded vehicle depth: 209.636334 # Seafloor depth: -284.636334 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.89; MB_Bottom_Detect_Filter_Max_Range = 318.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.577420 meters # Minimum depth: 283.947574 meters looking forward 50.000000 meters along route # Maximum depth: 288.721726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 208.947574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548242; longitude = -121.233108; captureRadius = 10; duration = 101; initialDepth = 210.326883; finalDepth = 208.947574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.278219 # Actual altitude: 75.278219 # Commanded vehicle depth: 208.947574 # Seafloor depth: -284.225793 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.519673 meters # Minimum depth: 285.326883 meters looking forward 50.000000 meters along route # Maximum depth: 287.586886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 210.326883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548626; longitude = -121.232806; captureRadius = 10; duration = 101; initialDepth = 205.374647; finalDepth = 210.326883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.260003 # Actual altitude: 77.260003 # Commanded vehicle depth: 210.326883 # Seafloor depth: -287.586886 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.047998 meters # Minimum depth: 280.374647 meters looking forward 50.000000 meters along route # Maximum depth: 285.973323 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.374647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549009; longitude = -121.232505; captureRadius = 10; duration = 102; initialDepth = 207.334683; finalDepth = 205.374647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.598676 # Actual altitude: 80.598676 # Commanded vehicle depth: 205.374647 # Seafloor depth: -285.973323 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.048843 meters # Minimum depth: 282.334683 meters looking forward 50.000000 meters along route # Maximum depth: 285.157277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 207.334683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549395; longitude = -121.232200; captureRadius = 10; duration = 100; initialDepth = 205.157595; finalDepth = 207.334683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.598676 # Actual altitude: 80.598676 # Commanded vehicle depth: 207.334683 # Seafloor depth: -282.334683 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521756 meters # Minimum depth: 280.157595 meters looking forward 50.000000 meters along route # Maximum depth: 285.928604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 205.157595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549775; longitude = -121.231901; captureRadius = 10; duration = 107; initialDepth = 204.973845; finalDepth = 205.157595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.463787 # Actual altitude: 78.463787 # Commanded vehicle depth: 205.157595 # Seafloor depth: -283.621382 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521685 meters # Minimum depth: 279.973845 meters looking forward 50.000000 meters along route # Maximum depth: 282.110406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 204.973845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550180; longitude = -121.231582; captureRadius = 10; duration = 107; initialDepth = 196.479271; finalDepth = 204.973845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.463787 # Actual altitude: 78.463787 # Commanded vehicle depth: 204.973845 # Seafloor depth: -280.040695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.275662 meters # Minimum depth: 271.479271 meters looking forward 50.000000 meters along route # Maximum depth: 280.438994 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 196.479271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550586; longitude = -121.231262; captureRadius = 10; duration = 110; initialDepth = 195.386737; finalDepth = 196.479271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.959723 # Actual altitude: 83.959723 # Commanded vehicle depth: 196.479271 # Seafloor depth: -280.438994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.767496 meters # Minimum depth: 270.386737 meters looking forward 50.000000 meters along route # Maximum depth: 278.147790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 195.386737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551005; longitude = -121.230932; captureRadius = 10; duration = 103; initialDepth = 199.498136; finalDepth = 195.386737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.959723 # Actual altitude: 83.959723 # Commanded vehicle depth: 195.386737 # Seafloor depth: -271.322667 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521474 meters # Minimum depth: 274.498136 meters looking forward 50.000000 meters along route # Maximum depth: 278.834594 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 199.498136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551397; longitude = -121.230623; captureRadius = 10; duration = 107; initialDepth = 200.084986; finalDepth = 199.498136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.336458 # Actual altitude: 79.336458 # Commanded vehicle depth: 199.498136 # Seafloor depth: -278.834594 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521403 meters # Minimum depth: 275.084986 meters looking forward 50.000000 meters along route # Maximum depth: 277.084230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.084986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551803; longitude = -121.230304; captureRadius = 10; duration = 107; initialDepth = 193.755926; finalDepth = 200.084986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.336458 # Actual altitude: 79.336458 # Commanded vehicle depth: 200.084986 # Seafloor depth: -275.084986 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.556464 meters # Minimum depth: 268.755926 meters looking forward 50.000000 meters along route # Maximum depth: 274.976827 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.755926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552209; longitude = -121.229984; captureRadius = 10; duration = 107; initialDepth = 193.752133; finalDepth = 193.755926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.220901 # Actual altitude: 81.220901 # Commanded vehicle depth: 193.755926 # Seafloor depth: -274.976827 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 324.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.399862 meters # Minimum depth: 268.752133 meters looking forward 50.000000 meters along route # Maximum depth: 274.941937 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.752133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552615; longitude = -121.229664; captureRadius = 10; duration = 110; initialDepth = 192.690185; finalDepth = 193.752133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.220901 # Actual altitude: 81.220901 # Commanded vehicle depth: 193.752133 # Seafloor depth: -268.752133 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 324.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.607460 meters # Minimum depth: 267.690185 meters looking forward 50.000000 meters along route # Maximum depth: 270.900830 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 192.690185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553034; longitude = -121.229333; captureRadius = 10; duration = 103; initialDepth = 187.381936; finalDepth = 192.690185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.210645 # Actual altitude: 78.210645 # Commanded vehicle depth: 192.690185 # Seafloor depth: -270.900830 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521121 meters # Minimum depth: 262.381936 meters looking forward 50.000000 meters along route # Maximum depth: 269.437019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 187.381936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553426; longitude = -121.229025; captureRadius = 10; duration = 107; initialDepth = 189.175767; finalDepth = 187.381936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.585088 # Actual altitude: 81.585088 # Commanded vehicle depth: 187.381936 # Seafloor depth: -268.967024 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 326.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.521051 meters # Minimum depth: 264.175767 meters looking forward 50.000000 meters along route # Maximum depth: 267.195031 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 189.175767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553831; longitude = -121.228706; captureRadius = 10; duration = 107; initialDepth = 186.494081; finalDepth = 189.175767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.585088 # Actual altitude: 81.585088 # Commanded vehicle depth: 189.175767 # Seafloor depth: -264.672191 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 326.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.715806 meters # Minimum depth: 261.494081 meters looking forward 50.000000 meters along route # Maximum depth: 264.188369 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.494081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554237; longitude = -121.228386; captureRadius = 10; duration = 107; initialDepth = 186.836605; finalDepth = 186.494081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.321101 # Actual altitude: 77.321101 # Commanded vehicle depth: 186.494081 # Seafloor depth: -263.815182 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.399497 meters # Minimum depth: 261.836605 meters looking forward 50.000000 meters along route # Maximum depth: 263.303091 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 186.836605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554644; longitude = -121.228066; captureRadius = 10; duration = 110; initialDepth = 180.810348; finalDepth = 186.836605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.321101 # Actual altitude: 77.321101 # Commanded vehicle depth: 186.836605 # Seafloor depth: -262.816891 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.447426 meters # Minimum depth: 255.810348 meters looking forward 50.000000 meters along route # Maximum depth: 262.880019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.810348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555064; longitude = -121.227735; captureRadius = 10; duration = 102; initialDepth = 180.598845; finalDepth = 180.810348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.069671 # Actual altitude: 82.069671 # Commanded vehicle depth: 180.810348 # Seafloor depth: -262.880019 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.118122 meters # Minimum depth: 255.598845 meters looking forward 50.000000 meters along route # Maximum depth: 259.375144 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 180.598845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555454; longitude = -121.227428; captureRadius = 10; duration = 100; initialDepth = 182.092588; finalDepth = 180.598845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.069671 # Actual altitude: 82.069671 # Commanded vehicle depth: 180.598845 # Seafloor depth: -255.598845 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.976605 meters # Minimum depth: 257.092588 meters looking forward 50.000000 meters along route # Maximum depth: 261.616388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 182.092588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555834; longitude = -121.227129; captureRadius = 10; duration = 101; initialDepth = 178.614740; finalDepth = 182.092588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 182.092588 # Seafloor depth: -257.092588 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.588689 meters # Minimum depth: 253.614740 meters looking forward 50.000000 meters along route # Maximum depth: 257.184122 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.614740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556220; longitude = -121.226824; captureRadius = 10; duration = 101; initialDepth = 173.519575; finalDepth = 178.614740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.569382 # Actual altitude: 78.569382 # Commanded vehicle depth: 178.61474 # Seafloor depth: -257.184122 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 314.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.505786 meters # Minimum depth: 248.519575 meters looking forward 50.000000 meters along route # Maximum depth: 252.706199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 173.519575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556604; longitude = -121.226522; captureRadius = 10; duration = 101; initialDepth = 172.920072; finalDepth = 173.519575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.790818 # Actual altitude: 78.790818 # Commanded vehicle depth: 173.519575 # Seafloor depth: -252.310393 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.059255 meters # Minimum depth: 247.920072 meters looking forward 50.000000 meters along route # Maximum depth: 254.304470 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.920072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556986; longitude = -121.226221; captureRadius = 10; duration = 102; initialDepth = 172.669884; finalDepth = 172.920072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.790818 # Actual altitude: 78.790818 # Commanded vehicle depth: 172.920072 # Seafloor depth: -249.505710 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.034968 meters # Minimum depth: 247.669884 meters looking forward 50.000000 meters along route # Maximum depth: 251.274367 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 172.669884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557373; longitude = -121.225916; captureRadius = 10; duration = 100; initialDepth = 171.465260; finalDepth = 172.669884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.604483 # Actual altitude: 78.604483 # Commanded vehicle depth: 172.669884 # Seafloor depth: -251.274367 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 314.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.520369 meters # Minimum depth: 246.465260 meters looking forward 50.000000 meters along route # Maximum depth: 248.143965 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 171.465260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557753; longitude = -121.225617; captureRadius = 10; duration = 107; initialDepth = 170.410481; finalDepth = 171.465260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.604483 # Actual altitude: 78.604483 # Commanded vehicle depth: 171.46526 # Seafloor depth: -247.859756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 314.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.520299 meters # Minimum depth: 245.410481 meters looking forward 50.000000 meters along route # Maximum depth: 247.996089 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 170.410481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558158; longitude = -121.225298; captureRadius = 10; duration = 107; initialDepth = 169.003571; finalDepth = 170.410481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.896398 # Actual altitude: 76.896398 # Commanded vehicle depth: 170.410481 # Seafloor depth: -247.306879 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.286811 meters # Minimum depth: 244.003571 meters looking forward 50.000000 meters along route # Maximum depth: 247.199717 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 169.003571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558564; longitude = -121.224978; captureRadius = 10; duration = 110; initialDepth = 168.244950; finalDepth = 169.003571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.896398 # Actual altitude: 76.896398 # Commanded vehicle depth: 169.003571 # Seafloor depth: -245.693327 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.753576 meters # Minimum depth: 243.244950 meters looking forward 50.000000 meters along route # Maximum depth: 247.085113 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.244950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558983; longitude = -121.224648; captureRadius = 10; duration = 103; initialDepth = 167.127245; finalDepth = 168.244950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.653536 # Actual altitude: 78.653536 # Commanded vehicle depth: 168.24495 # Seafloor depth: -246.898486 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.520088 meters # Minimum depth: 242.127245 meters looking forward 50.000000 meters along route # Maximum depth: 246.716527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 167.127245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559375; longitude = -121.224339; captureRadius = 10; duration = 107; initialDepth = 162.796287; finalDepth = 167.127245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.653536 # Actual altitude: 78.653536 # Commanded vehicle depth: 167.127245 # Seafloor depth: -243.364482 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.520017 meters # Minimum depth: 237.796287 meters looking forward 50.000000 meters along route # Maximum depth: 241.055159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 162.796287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559781; longitude = -121.224019; captureRadius = 10; duration = 107; initialDepth = 161.058504; finalDepth = 162.796287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.258872 # Actual altitude: 78.258872 # Commanded vehicle depth: 162.796287 # Seafloor depth: -241.055159 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 313.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.567656 meters # Minimum depth: 236.058504 meters looking forward 50.000000 meters along route # Maximum depth: 239.414071 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 161.058504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560186; longitude = -121.223700; captureRadius = 10; duration = 107; initialDepth = 153.814700; finalDepth = 161.058504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.355567 # Actual altitude: 78.355567 # Commanded vehicle depth: 161.058504 # Seafloor depth: -239.414071 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.398427 meters # Minimum depth: 228.814700 meters looking forward 50.000000 meters along route # Maximum depth: 236.168191 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 153.814700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560592; longitude = -121.223380; captureRadius = 10; duration = 110; initialDepth = 149.743555; finalDepth = 153.814700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.353491 # Actual altitude: 82.353491 # Commanded vehicle depth: 153.8147 # Seafloor depth: -236.168191 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.593545 meters # Minimum depth: 224.743555 meters looking forward 50.000000 meters along route # Maximum depth: 228.980363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 149.743555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561012; longitude = -121.223049; captureRadius = 10; duration = 103; initialDepth = 148.489255; finalDepth = 149.743555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.353491 # Actual altitude: 82.353491 # Commanded vehicle depth: 149.743555 # Seafloor depth: -228.497498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.519735 meters # Minimum depth: 223.489255 meters looking forward 50.000000 meters along route # Maximum depth: 228.874035 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 148.489255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561403; longitude = -121.222741; captureRadius = 10; duration = 107; initialDepth = 143.885144; finalDepth = 148.489255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.753943 # Actual altitude: 78.753943 # Commanded vehicle depth: 148.489255 # Seafloor depth: -223.489255 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.519665 meters # Minimum depth: 218.885144 meters looking forward 50.000000 meters along route # Maximum depth: 224.937237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 143.885144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561809; longitude = -121.222422; captureRadius = 10; duration = 107; initialDepth = 136.780032; finalDepth = 143.885144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.052093 # Actual altitude: 81.052093 # Commanded vehicle depth: 143.885144 # Seafloor depth: -224.937237 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 324.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.726993 meters # Minimum depth: 211.780032 meters looking forward 50.000000 meters along route # Maximum depth: 218.836263 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 136.780032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562215; longitude = -121.222102; captureRadius = 10; duration = 107; initialDepth = 130.741720; finalDepth = 136.780032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.056231 # Actual altitude: 82.056231 # Commanded vehicle depth: 136.780032 # Seafloor depth: -218.836263 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.398063 meters # Minimum depth: 205.741720 meters looking forward 50.000000 meters along route # Maximum depth: 213.423902 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 130.741720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562622; longitude = -121.221781; captureRadius = 10; duration = 110; initialDepth = 130.098080; finalDepth = 130.741720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.056231 # Actual altitude: 82.056231 # Commanded vehicle depth: 130.74172 # Seafloor depth: -211.765300 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.433516 meters # Minimum depth: 205.098080 meters looking forward 50.000000 meters along route # Maximum depth: 209.590791 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 130.098080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563042; longitude = -121.221451; captureRadius = 10; duration = 102; initialDepth = 124.347090; finalDepth = 130.098080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.02358 # Actual altitude: 81.02358 # Commanded vehicle depth: 130.09808 # Seafloor depth: -207.220467 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 324.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.129402 meters # Minimum depth: 199.347090 meters looking forward 50.000000 meters along route # Maximum depth: 203.301628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 124.347090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563432; longitude = -121.221144; captureRadius = 10; duration = 100; initialDepth = 120.593819; finalDepth = 124.347090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.954538 # Actual altitude: 78.954538 # Commanded vehicle depth: 124.34709 # Seafloor depth: -203.301628 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.962706 meters # Minimum depth: 195.593819 meters looking forward 50.000000 meters along route # Maximum depth: 199.210389 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 120.593819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563812; longitude = -121.220844; captureRadius = 10; duration = 101; initialDepth = 112.457096; finalDepth = 120.593819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.954538 # Actual altitude: 78.954538 # Commanded vehicle depth: 120.593819 # Seafloor depth: -199.189917 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.599958 meters # Minimum depth: 187.457096 meters looking forward 50.000000 meters along route # Maximum depth: 198.336777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 112.457096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564198; longitude = -121.220540; captureRadius = 10; duration = 101; initialDepth = 110.257958; finalDepth = 112.457096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.989707 # Actual altitude: 82.989707 # Commanded vehicle depth: 112.457096 # Seafloor depth: -195.446803 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 331.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.491899 meters # Minimum depth: 185.257958 meters looking forward 50.000000 meters along route # Maximum depth: 190.977231 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 110.257958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564581; longitude = -121.220238; captureRadius = 10; duration = 100; initialDepth = 101.504936; finalDepth = 110.257958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.989707 # Actual altitude: 82.989707 # Commanded vehicle depth: 110.257958 # Seafloor depth: -190.401329 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 331.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.070512 meters # Minimum depth: 176.504936 meters looking forward 50.000000 meters along route # Maximum depth: 183.924396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 101.504936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564964; longitude = -121.219937; captureRadius = 10; duration = 102; initialDepth = 91.789934; finalDepth = 101.504936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.33547 # Actual altitude: 80.33547 # Commanded vehicle depth: 101.504936 # Seafloor depth: -181.840406 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.021094 meters # Minimum depth: 166.789934 meters looking forward 50.000000 meters along route # Maximum depth: 181.333593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 91.789934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565351; longitude = -121.219632; captureRadius = 10; duration = 100; initialDepth = 93.583756; finalDepth = 91.789934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.264811 # Actual altitude: 88.264811 # Commanded vehicle depth: 91.789934 # Seafloor depth: -180.054745 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518983 meters # Minimum depth: 168.583756 meters looking forward 50.000000 meters along route # Maximum depth: 175.209656 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 93.583756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565730; longitude = -121.219333; captureRadius = 10; duration = 107; initialDepth = 92.387924; finalDepth = 93.583756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.264811 # Actual altitude: 88.264811 # Commanded vehicle depth: 93.583756 # Seafloor depth: -168.583756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518914 meters # Minimum depth: 167.387924 meters looking forward 50.000000 meters along route # Maximum depth: 175.278706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 92.387924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566136; longitude = -121.219013; captureRadius = 10; duration = 107; initialDepth = 87.198715; finalDepth = 92.387924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.890782 # Actual altitude: 82.890782 # Commanded vehicle depth: 92.387924 # Seafloor depth: -175.278706 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 331.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.297957 meters # Minimum depth: 162.198715 meters looking forward 50.000000 meters along route # Maximum depth: 171.387041 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 87.198715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566542; longitude = -121.218694; captureRadius = 10; duration = 110; initialDepth = 82.390194; finalDepth = 87.198715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.14071 # Actual altitude: 84.14071 # Commanded vehicle depth: 87.198715 # Seafloor depth: -171.339425 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.739657 meters # Minimum depth: 157.390194 meters looking forward 50.000000 meters along route # Maximum depth: 164.127392 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 82.390194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566961; longitude = -121.218364; captureRadius = 10; duration = 103; initialDepth = 81.817473; finalDepth = 82.390194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.14071 # Actual altitude: 84.14071 # Commanded vehicle depth: 82.390194 # Seafloor depth: -164.127392 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518702 meters # Minimum depth: 156.817473 meters looking forward 50.000000 meters along route # Maximum depth: 158.617078 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 81.817473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567353; longitude = -121.218055; captureRadius = 10; duration = 107; initialDepth = 72.225874; finalDepth = 81.817473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.737198 # Actual altitude: 81.737198 # Commanded vehicle depth: 81.817473 # Seafloor depth: -156.817473 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518631 meters # Minimum depth: 147.225874 meters looking forward 50.000000 meters along route # Maximum depth: 155.626937 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 72.225874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567759; longitude = -121.217735; captureRadius = 10; duration = 107; initialDepth = 72.680498; finalDepth = 72.225874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.401063 # Actual altitude: 83.401063 # Commanded vehicle depth: 72.225874 # Seafloor depth: -155.626937 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.578848 meters # Minimum depth: 147.680498 meters looking forward 50.000000 meters along route # Maximum depth: 153.192574 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 72.680498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568164; longitude = -121.217416; captureRadius = 10; duration = 107; initialDepth = 63.098811; finalDepth = 72.680498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.401063 # Actual altitude: 83.401063 # Commanded vehicle depth: 72.680498 # Seafloor depth: -153.192574 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.396993 meters # Minimum depth: 138.098811 meters looking forward 50.000000 meters along route # Maximum depth: 147.681406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 63.098811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568570; longitude = -121.217096; captureRadius = 10; duration = 110; initialDepth = 57.618809; finalDepth = 63.098811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.582595 # Actual altitude: 84.582595 # Commanded vehicle depth: 63.098811 # Seafloor depth: -147.681406 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 338.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.579631 meters # Minimum depth: 132.618809 meters looking forward 50.000000 meters along route # Maximum depth: 138.681479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 57.618809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568990; longitude = -121.216765; captureRadius = 10; duration = 103; initialDepth = 54.830600; finalDepth = 57.618809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.582595 # Actual altitude: 84.582595 # Commanded vehicle depth: 57.618809 # Seafloor depth: -138.289781 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 338.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518349 meters # Minimum depth: 129.830600 meters looking forward 50.000000 meters along route # Maximum depth: 132.837282 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 54.830600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569381; longitude = -121.216457; captureRadius = 10; duration = 107; initialDepth = 50.016275; finalDepth = 54.830600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.670972 # Actual altitude: 80.670972 # Commanded vehicle depth: 54.8306 # Seafloor depth: -132.837282 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.518279 meters # Minimum depth: 125.016275 meters looking forward 50.000000 meters along route # Maximum depth: 129.893514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 50.016275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569787; longitude = -121.216138; captureRadius = 10; duration = 107; initialDepth = 48.305737; finalDepth = 50.016275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.772327 # Actual altitude: 79.772327 # Commanded vehicle depth: 50.016275 # Seafloor depth: -129.788602 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.738181 meters # Minimum depth: 123.305737 meters looking forward 50.000000 meters along route # Maximum depth: 124.870400 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 48.305737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.570192; longitude = -121.215818; captureRadius = 10; duration = 107; initialDepth = 45.985578; finalDepth = 48.305737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.772327 # Actual altitude: 79.772327 # Commanded vehicle depth: 48.305737 # Seafloor depth: -124.870400 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.396628 meters # Minimum depth: 120.985578 meters looking forward 50.000000 meters along route # Maximum depth: 123.301540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 45.985578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.570600; longitude = -121.215497; captureRadius = 10; duration = 110; initialDepth = 41.414946; finalDepth = 45.985578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.315962 # Actual altitude: 77.315962 # Commanded vehicle depth: 45.985578 # Seafloor depth: -123.301540 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.419605 meters # Minimum depth: 116.414946 meters looking forward 50.000000 meters along route # Maximum depth: 120.809296 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 41.414946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.571020; longitude = -121.215167; captureRadius = 10; duration = 102; initialDepth = 36.044099; finalDepth = 41.414946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.39435 # Actual altitude: 79.39435 # Commanded vehicle depth: 41.414946 # Seafloor depth: -120.809296 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 317.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140683 meters # Minimum depth: 111.044099 meters looking forward 50.000000 meters along route # Maximum depth: 115.873892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 36.044099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.571409; longitude = -121.214860; captureRadius = 10; duration = 100; initialDepth = 31.773488; finalDepth = 36.044099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.829793 # Actual altitude: 79.829793 # Commanded vehicle depth: 36.044099 # Seafloor depth: -115.873892 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 319.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.948808 meters # Minimum depth: 106.773488 meters looking forward 50.000000 meters along route # Maximum depth: 110.792744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 31.773488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.571789; longitude = -121.214560; captureRadius = 10; duration = 101; initialDepth = 28.127219; finalDepth = 31.773488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.829793 # Actual altitude: 79.829793 # Commanded vehicle depth: 31.773488 # Seafloor depth: -110.792744 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 319.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.517864 meters # Minimum depth: 103.127219 meters looking forward 50.000000 meters along route # Maximum depth: 106.407046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 28.127219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.572176; longitude = -121.214256; captureRadius = 10; duration = 107; initialDepth = 25.783938; finalDepth = 28.127219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.019256 # Actual altitude: 79.019256 # Commanded vehicle depth: 28.127219 # Seafloor depth: -106.407046 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.509588 meters # Minimum depth: 100.783938 meters looking forward 50.000000 meters along route # Maximum depth: 102.983036 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 25.783938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.572581; longitude = -121.213936; captureRadius = 10; duration = 111; initialDepth = 25.689453; finalDepth = 25.783938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.279827 # Actual altitude: 78.279827 # Commanded vehicle depth: 25.783938 # Seafloor depth: -102.983036 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 313.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 77.199098 # Sonar parameter altitude: 77.199098 # Commanded vehicle depth: 25.689453 # Seafloor depth: -100.689453 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 308.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 100.689453 meters looking forward 50.000000 meters along route # Maximum depth: 102.694407 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 307.764871 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 25.689453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.573002; longitude = -121.213605; captureRadius = 10; duration = 600; initialDepth = 25.689453; finalDepth = 25.689453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 75.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################