# 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_Rodriguez_1v1.rte # Mission File: 2010_Rodriguez_1v1.cfg # Distance: 83521.496258 (m) # Estimated Time: 57349 (s) 15.930 (hr) # Abort Time: 62027 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 972 (s) # Way Points: 43 # Route Points: 786 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 70 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 918.693698 (m) # Abort Vehicle Depth: 956.193698 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 565.534017 m # Spiral descent altitude: 75 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.059895 34.038360 -650.534017 0.000000 3 # 1 -121.091295 34.032138 -959.187012 2980.657939 3 # 2 -121.056610 34.061384 -773.066406 7539.163706 4 # 3 -121.054661 34.060032 -759.205322 7773.436582 3 # 4 -121.089995 34.030244 -947.457194 12416.838304 4 # 5 -121.088696 34.028441 -959.619141 12650.109010 3 # 6 -121.042228 34.067852 -836.874969 18775.378540 3 # 7 -121.045674 34.067787 -774.924805 19093.565472 1 # 8 -121.049608 34.066494 -787.377279 19483.998679 3 # 9 -121.046432 34.065803 -756.002767 19787.056658 1 # 10 -121.040532 34.066460 -865.846130 20336.605237 3 # 11 -121.087072 34.026908 -947.349284 26477.711398 4 # 12 -121.085556 34.025555 -949.349202 26682.915758 3 # 13 -121.038835 34.065067 -858.777756 32832.576495 4 # 14 -121.037139 34.063674 -864.766373 33052.576495 3 # 15 -121.083390 34.024473 -929.872884 39147.339272 4 # 16 -121.080106 34.024594 -901.272949 39450.967245 3 # 17 -121.035442 34.062281 -863.918198 45323.285717 4 # 18 -121.033746 34.060888 -881.134247 45543.285717 3 # 19 -121.072671 34.028080 -772.648275 50658.132941 4 # 20 -121.068845 34.028381 -776.427572 51013.023972 3 # 21 -121.037048 34.055222 -765.646484 55194.574634 4 # 22 -121.036182 34.053148 -777.307536 55438.133083 3 # 23 -121.066247 34.027750 -781.615885 59393.443778 4 # 24 -121.063756 34.026848 -777.004883 59644.246956 3 # 25 -121.036146 34.050293 -779.379883 63286.178597 4 # 26 -121.036615 34.047107 -788.922038 63642.240045 3 # 27 -121.062277 34.025375 -762.662923 67022.521231 4 # 28 -121.059245 34.025285 -783.939616 67302.701082 3 # 29 -121.044411 34.037819 -775.954102 69254.527705 4 # 30 -121.043725 34.035685 -787.492676 69499.572450 3 # 31 -121.053723 34.027179 -788.858968 70819.693441 4 # 32 -121.049572 34.027750 -773.898926 71208.219388 3 # 33 -121.042859 34.033431 -767.653809 72092.210986 4 # 34 -121.041704 34.031597 -771.748535 72321.861911 3 # 35 -121.045999 34.028110 -774.871745 72875.857147 4 # 36 -121.041921 34.029523 -780.962565 73283.809392 3 # 37 -121.069712 34.052547 -820.691081 76904.290226 4 # 38 -121.067474 34.054501 -835.265055 77203.703356 3 # 39 -121.046324 34.040374 -703.324788 79707.526276 4 # 40 -121.044195 34.042418 -722.324707 80007.635240 3 # 41 -121.053470 34.056335 -685.557536 81772.981466 3 # 42 -121.035388 34.061024 -813.124593 83521.496258 4 # # A total of 786 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 83521.496258 #define MISSION_TIME 57349 #define MISSION_TIMEOUT 61200 #define DEPTH_MAX 918.693698 #define DEPTH_ABORT 956.193698 #define ALTITUDE_DESIRED 75.000000 #define ALTITUDE_MIN 75.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 565.534017 #define SPIRAL_DESCENT_ALTITUDE 75.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1200; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 123.290261 meters # Minimum depth: 810.277353 meters looking forward 100.000000 meters along route # Maximum depth: 814.278934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 735.277353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061024; longitude = -121.035388; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 722.142312; finalDepth = 735.277353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8472400000001 # Actual altitude: 77.8472400000001 # Commanded vehicle depth: 735.277353 # Seafloor depth: -813.124593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 311.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.874126 meters # Minimum depth: 797.142312 meters looking forward 100.000000 meters along route # Maximum depth: 811.819590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 722.142312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060693; longitude = -121.036663; captureRadius = 10; duration = 201; initialDepth = 701.212769; finalDepth = 722.142312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.677278 # Actual altitude: 89.677278 # Commanded vehicle depth: 722.142312 # Seafloor depth: -811.819590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.87; 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 42 # Segment length 100.874374 meters # Minimum depth: 776.212769 meters looking forward 100.000000 meters along route # Maximum depth: 794.944888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 701.212769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060422; longitude = -121.037706; captureRadius = 10; duration = 201; initialDepth = 670.930484; finalDepth = 701.212769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.732119 # Actual altitude: 93.732119 # Commanded vehicle depth: 701.212769 # Seafloor depth: -794.944888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.49; 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 42 # Segment length 100.874624 meters # Minimum depth: 745.930484 meters looking forward 100.000000 meters along route # Maximum depth: 775.134421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 670.930484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060152; longitude = -121.038749; captureRadius = 10; duration = 201; initialDepth = 654.758547; finalDepth = 670.930484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.203937 # Actual altitude: 100 # Commanded vehicle depth: 670.930484 # Seafloor depth: -775.134421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.874872 meters # Minimum depth: 729.758547 meters looking forward 100.000000 meters along route # Maximum depth: 745.899170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 654.758547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059881; longitude = -121.039793; captureRadius = 10; duration = 201; initialDepth = 636.608458; finalDepth = 654.758547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.203937 # Actual altitude: 100 # Commanded vehicle depth: 654.758547 # Seafloor depth: -745.899170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.875121 meters # Minimum depth: 711.608458 meters looking forward 100.000000 meters along route # Maximum depth: 728.457614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 636.608458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059611; longitude = -121.040836; captureRadius = 10; duration = 201; initialDepth = 614.687271; finalDepth = 636.608458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.849156 # Actual altitude: 91.849156 # Commanded vehicle depth: 636.608458 # Seafloor depth: -728.457614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.747878 meters # Minimum depth: 689.687271 meters looking forward 100.000000 meters along route # Maximum depth: 710.886559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.687271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059340; longitude = -121.041879; captureRadius = 10; duration = 203; initialDepth = 609.089883; finalDepth = 614.687271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.199288 # Actual altitude: 96.199288 # Commanded vehicle depth: 614.687271 # Seafloor depth: -710.886559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.48; 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 42 # Segment length 100.003109 meters # Minimum depth: 684.089883 meters looking forward 100.000000 meters along route # Maximum depth: 689.625921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.089883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059067; longitude = -121.042931; captureRadius = 10; duration = 200; initialDepth = 610.580961; finalDepth = 609.089883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.199288 # Actual altitude: 96.199288 # Commanded vehicle depth: 609.089883 # Seafloor depth: -689.625921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.48; 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 42 # Segment length 100.875867 meters # Minimum depth: 685.580961 meters looking forward 100.000000 meters along route # Maximum depth: 689.878897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.580961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058799; longitude = -121.043965; captureRadius = 10; duration = 201; initialDepth = 609.702875; finalDepth = 610.580961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.536038 # Actual altitude: 80.536038 # Commanded vehicle depth: 610.580961 # Seafloor depth: -689.325513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; 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 42 # Segment length 100.876116 meters # Minimum depth: 684.702875 meters looking forward 100.000000 meters along route # Maximum depth: 687.883396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.702875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058529; longitude = -121.045009; captureRadius = 10; duration = 201; initialDepth = 599.471948; finalDepth = 609.702875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.744552 # Actual altitude: 78.744552 # Commanded vehicle depth: 609.702875 # Seafloor depth: -685.497148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; 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 42 # Segment length 100.876365 meters # Minimum depth: 674.471948 meters looking forward 100.000000 meters along route # Maximum depth: 688.297000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.471948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058258; longitude = -121.046052; captureRadius = 10; duration = 201; initialDepth = 591.617769; finalDepth = 599.471948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.778532 # Actual altitude: 88.778532 # Commanded vehicle depth: 599.471948 # Seafloor depth: -688.250480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.51; 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 42 # Segment length 100.876613 meters # Minimum depth: 666.617769 meters looking forward 100.000000 meters along route # Maximum depth: 674.263483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.617769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057988; longitude = -121.047095; captureRadius = 10; duration = 201; initialDepth = 593.051704; finalDepth = 591.617769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.778532 # Actual altitude: 88.778532 # Commanded vehicle depth: 591.617769 # Seafloor depth: -674.263483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.51; 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 42 # Segment length 100.876862 meters # Minimum depth: 668.051704 meters looking forward 100.000000 meters along route # Maximum depth: 673.628435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.051704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057717; longitude = -121.048138; captureRadius = 10; duration = 201; initialDepth = 599.731660; finalDepth = 593.051704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.645714 # Actual altitude: 82.645714 # Commanded vehicle depth: 593.051704 # Seafloor depth: -668.051704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 330.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.877111 meters # Minimum depth: 674.731660 meters looking forward 100.000000 meters along route # Maximum depth: 689.766373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.731660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057447; longitude = -121.049181; captureRadius = 10; duration = 201; initialDepth = 612.422926; finalDepth = 599.731660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 599.73166 # Seafloor depth: -674.731660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.944478 meters # Minimum depth: 687.422926 meters looking forward 100.000000 meters along route # Maximum depth: 692.181363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 612.422926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057176; longitude = -121.050225; captureRadius = 10; duration = 201; initialDepth = 614.415651; finalDepth = 612.422926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0529240000001 # Actual altitude: 75.0529240000001 # Commanded vehicle depth: 612.422926 # Seafloor depth: -687.475850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 104.703311 meters # Minimum depth: 689.415651 meters looking forward 100.000000 meters along route # Maximum depth: 692.728212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.415651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056905; longitude = -121.051269; captureRadius = 10; duration = 209; initialDepth = 610.352014; finalDepth = 614.415651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.455934 # Actual altitude: 77.455934 # Commanded vehicle depth: 614.415651 # Seafloor depth: -691.871585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 108.193704 meters # Minimum depth: 685.352014 meters looking forward 100.000000 meters along route # Maximum depth: 689.608784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.352014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056625; longitude = -121.052351; captureRadius = 10; duration = 216; initialDepth = 601.218027; finalDepth = 610.352014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.25677 # Actual altitude: 79.25677 # Commanded vehicle depth: 610.352014 # Seafloor depth: -689.608784 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 317.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.03; 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 41 # Segment length 110.570335 meters # Minimum depth: 676.218027 meters looking forward 100.000000 meters along route # Maximum depth: 685.557536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.218027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056335; longitude = -121.053470; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 596.116925; finalDepth = 601.218027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.339509 # Actual altitude: 84.339509 # Commanded vehicle depth: 601.218027 # Seafloor depth: -685.557536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 337.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 102.945048 meters # Minimum depth: 671.116925 meters looking forward 100.000000 meters along route # Maximum depth: 676.170419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.116925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055463; longitude = -121.052889; captureRadius = 10; duration = 205; initialDepth = 595.696374; finalDepth = 596.116925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.339509 # Actual altitude: 84.339509 # Commanded vehicle depth: 596.116925 # Seafloor depth: -676.170419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 337.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.945292 meters # Minimum depth: 670.696374 meters looking forward 100.000000 meters along route # Maximum depth: 673.941371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.696374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054651; longitude = -121.052348; captureRadius = 10; duration = 205; initialDepth = 597.210481; finalDepth = 595.696374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.053494 # Actual altitude: 80.053494 # Commanded vehicle depth: 595.696374 # Seafloor depth: -671.088691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 320.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.945536 meters # Minimum depth: 672.210481 meters looking forward 100.000000 meters along route # Maximum depth: 673.353054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.210481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053840; longitude = -121.051807; captureRadius = 10; duration = 205; initialDepth = 591.628877; finalDepth = 597.210481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.734855 # Actual altitude: 75.734855 # Commanded vehicle depth: 597.210481 # Seafloor depth: -672.945336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 302.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.945779 meters # Minimum depth: 666.628877 meters looking forward 100.000000 meters along route # Maximum depth: 672.187995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.628877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053028; longitude = -121.051266; captureRadius = 10; duration = 205; initialDepth = 572.755017; finalDepth = 591.628877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.559118 # Actual altitude: 80.559118 # Commanded vehicle depth: 591.628877 # Seafloor depth: -672.187995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; 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 41 # Segment length 102.946024 meters # Minimum depth: 647.755017 meters looking forward 100.000000 meters along route # Maximum depth: 666.583878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.755017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052217; longitude = -121.050726; captureRadius = 10; duration = 205; initialDepth = 570.285617; finalDepth = 572.755017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.8288610000001 # Actual altitude: 93.8288610000001 # Commanded vehicle depth: 572.755017 # Seafloor depth: -666.583878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; 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 41 # Segment length 102.946268 meters # Minimum depth: 645.285617 meters looking forward 100.000000 meters along route # Maximum depth: 651.595774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 570.285617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051405; longitude = -121.050185; captureRadius = 10; duration = 205; initialDepth = 550.599382; finalDepth = 570.285617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.8288610000001 # Actual altitude: 93.8288610000001 # Commanded vehicle depth: 570.285617 # Seafloor depth: -647.659592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; 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 41 # Segment length 102.946512 meters # Minimum depth: 625.599382 meters looking forward 100.000000 meters along route # Maximum depth: 650.806916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 550.599382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050594; longitude = -121.049644; captureRadius = 10; duration = 205; initialDepth = 557.874981; finalDepth = 550.599382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.207534 # Actual altitude: 100 # Commanded vehicle depth: 550.599382 # Seafloor depth: -650.806916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.991264 meters # Minimum depth: 632.874981 meters looking forward 100.000000 meters along route # Maximum depth: 654.267541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 557.874981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049782; longitude = -121.049103; captureRadius = 10; duration = 205; initialDepth = 579.270392; finalDepth = 557.874981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.207534 # Actual altitude: 100 # Commanded vehicle depth: 557.874981 # Seafloor depth: -632.874981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.036017 meters # Minimum depth: 654.270392 meters looking forward 100.000000 meters along route # Maximum depth: 660.832181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.270392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048970; longitude = -121.048562; captureRadius = 10; duration = 206; initialDepth = 585.845340; finalDepth = 579.270392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 579.270392 # Seafloor depth: -654.270392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.036261 meters # Minimum depth: 660.845340 meters looking forward 100.000000 meters along route # Maximum depth: 667.339784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.845340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048158; longitude = -121.048020; captureRadius = 10; duration = 206; initialDepth = 592.360515; finalDepth = 585.845340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 585.84534 # Seafloor depth: -660.845340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.036505 meters # Minimum depth: 667.360515 meters looking forward 100.000000 meters along route # Maximum depth: 673.771833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.360515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047346; longitude = -121.047479; captureRadius = 10; duration = 206; initialDepth = 598.789729; finalDepth = 592.360515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 592.360515 # Seafloor depth: -667.360515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.036750 meters # Minimum depth: 673.789729 meters looking forward 100.000000 meters along route # Maximum depth: 685.373809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.789729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046533; longitude = -121.046938; captureRadius = 10; duration = 206; initialDepth = 610.410650; finalDepth = 598.789729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 598.789729 # Seafloor depth: -673.789729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.036994 meters # Minimum depth: 685.410650 meters looking forward 100.000000 meters along route # Maximum depth: 691.078227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.410650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045721; longitude = -121.046396; captureRadius = 10; duration = 206; initialDepth = 616.111058; finalDepth = 610.410650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 610.41065 # Seafloor depth: -685.410650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.037239 meters # Minimum depth: 691.111058 meters looking forward 100.000000 meters along route # Maximum depth: 701.201913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.111058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044909; longitude = -121.045855; captureRadius = 10; duration = 206; initialDepth = 626.227250; finalDepth = 616.111058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 616.111058 # Seafloor depth: -691.111058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.037483 meters # Minimum depth: 701.227250 meters looking forward 100.000000 meters along route # Maximum depth: 704.368517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.227250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044096; longitude = -121.045313; captureRadius = 10; duration = 206; initialDepth = 629.467979; finalDepth = 626.227250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 626.22725 # Seafloor depth: -701.227250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.906919 meters # Minimum depth: 704.467979 meters looking forward 100.000000 meters along route # Maximum depth: 721.233604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 629.467979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043284; longitude = -121.044772; captureRadius = 10; duration = 219; initialDepth = 636.292896; finalDepth = 629.467979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 629.467979 # Seafloor depth: -704.467979 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 40 # Segment length 83.853696 meters # Minimum depth: 711.292896 meters looking forward 100.000000 meters along route # Maximum depth: 722.324707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 636.292896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042418; longitude = -121.044195; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 635.413721; finalDepth = 636.292896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.0318109999999 # Actual altitude: 86.0318109999999 # Commanded vehicle depth: 636.292896 # Seafloor depth: -722.324707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 344.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.920767 meters # Minimum depth: 710.413721 meters looking forward 100.000000 meters along route # Maximum depth: 711.519385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 635.413721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041847; longitude = -121.044790; captureRadius = 10; duration = 211; initialDepth = 628.839399; finalDepth = 635.413721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.0318109999999 # Actual altitude: 86.0318109999999 # Commanded vehicle depth: 635.413721 # Seafloor depth: -711.227803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 344.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 110.334501 meters # Minimum depth: 703.839399 meters looking forward 100.000000 meters along route # Maximum depth: 711.185520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 628.839399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041125; longitude = -121.045541; captureRadius = 10; duration = 220; initialDepth = 609.120863; finalDepth = 628.839399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 82.346121 # Actual altitude: 82.346121 # Commanded vehicle depth: 628.839399 # Seafloor depth: -711.185520 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 136.734561 meters # Minimum depth: 684.120863 meters looking forward 100.000000 meters along route # Maximum depth: 703.324788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.120863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040374; longitude = -121.046324; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 596.998577; finalDepth = 609.120863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.203925 # Actual altitude: 94.203925 # Commanded vehicle depth: 609.120863 # Seafloor depth: -703.324788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.68; 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 39 # Segment length 102.550387 meters # Minimum depth: 671.998577 meters looking forward 100.000000 meters along route # Maximum depth: 683.760208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.998577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041145; longitude = -121.047479; captureRadius = 10; duration = 205; initialDepth = 588.715122; finalDepth = 596.998577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.203925 # Actual altitude: 94.203925 # Commanded vehicle depth: 596.998577 # Seafloor depth: -683.760208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.68; 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 39 # Segment length 102.549931 meters # Minimum depth: 663.715122 meters looking forward 100.000000 meters along route # Maximum depth: 671.202723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.715122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041724; longitude = -121.048345; captureRadius = 10; duration = 205; initialDepth = 583.333942; finalDepth = 588.715122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.7616310000001 # Actual altitude: 86.7616310000001 # Commanded vehicle depth: 588.715122 # Seafloor depth: -671.202723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 347.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.549474 meters # Minimum depth: 658.333942 meters looking forward 100.000000 meters along route # Maximum depth: 663.663259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.333942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042303; longitude = -121.049211; captureRadius = 10; duration = 205; initialDepth = 576.297745; finalDepth = 583.333942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.487601 # Actual altitude: 82.487601 # Commanded vehicle depth: 583.333942 # Seafloor depth: -663.663259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 329.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.349075 meters # Minimum depth: 651.297745 meters looking forward 100.000000 meters along route # Maximum depth: 657.287783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.297745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042881; longitude = -121.050078; captureRadius = 10; duration = 208; initialDepth = 577.430258; finalDepth = 576.297745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.990038 # Actual altitude: 80.990038 # Commanded vehicle depth: 576.297745 # Seafloor depth: -657.287783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 323.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.748502 meters # Minimum depth: 652.430258 meters looking forward 100.000000 meters along route # Maximum depth: 653.597467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.430258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043470; longitude = -121.050959; captureRadius = 10; duration = 201; initialDepth = 577.157316; finalDepth = 577.430258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.990038 # Actual altitude: 80.990038 # Commanded vehicle depth: 577.430258 # Seafloor depth: -652.430258 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 323.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.548103 meters # Minimum depth: 652.157316 meters looking forward 100.000000 meters along route # Maximum depth: 652.768373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.157316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044038; longitude = -121.051810; captureRadius = 10; duration = 205; initialDepth = 576.658303; finalDepth = 577.157316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5712619999999 # Actual altitude: 75.5712619999999 # Commanded vehicle depth: 577.157316 # Seafloor depth: -652.728578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 39 # Segment length 102.547647 meters # Minimum depth: 651.658303 meters looking forward 100.000000 meters along route # Maximum depth: 652.326464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.658303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044617; longitude = -121.052676; captureRadius = 10; duration = 205; initialDepth = 574.926676; finalDepth = 576.658303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5712619999999 # Actual altitude: 75.5712619999999 # Commanded vehicle depth: 576.658303 # Seafloor depth: -652.052454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 39 # Segment length 102.547189 meters # Minimum depth: 649.926676 meters looking forward 100.000000 meters along route # Maximum depth: 651.550858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.926676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045195; longitude = -121.053542; captureRadius = 10; duration = 205; initialDepth = 567.962841; finalDepth = 574.926676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6241819999999 # Actual altitude: 76.6241819999999 # Commanded vehicle depth: 574.926676 # Seafloor depth: -651.550858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.037648 meters # Minimum depth: 642.962841 meters looking forward 100.000000 meters along route # Maximum depth: 649.082486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 567.962841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045774; longitude = -121.054409; captureRadius = 10; duration = 206; initialDepth = 558.458017; finalDepth = 567.962841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.119645 # Actual altitude: 81.119645 # Commanded vehicle depth: 567.962841 # Seafloor depth: -649.082486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 324.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.055362 meters # Minimum depth: 633.458017 meters looking forward 100.000000 meters along route # Maximum depth: 646.211922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 558.458017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046355; longitude = -121.055279; captureRadius = 10; duration = 204; initialDepth = 544.443771; finalDepth = 558.458017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.7539049999999 # Actual altitude: 87.7539049999999 # Commanded vehicle depth: 558.458017 # Seafloor depth: -646.211922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.545819 meters # Minimum depth: 619.443771 meters looking forward 100.000000 meters along route # Maximum depth: 636.025940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 544.443771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046931; longitude = -121.056141; captureRadius = 10; duration = 205; initialDepth = 559.262696; finalDepth = 544.443771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.7539049999999 # Actual altitude: 87.7539049999999 # Commanded vehicle depth: 544.443771 # Seafloor depth: -630.319074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.545363 meters # Minimum depth: 634.262696 meters looking forward 100.000000 meters along route # Maximum depth: 640.599082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 559.262696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047510; longitude = -121.057007; captureRadius = 10; duration = 205; initialDepth = 565.825165; finalDepth = 559.262696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.875303 # Actual altitude: 85.875303 # Commanded vehicle depth: 559.262696 # Seafloor depth: -635.346156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.35; MB_Bottom_Detect_Filter_Max_Range = 343.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.544906 meters # Minimum depth: 640.825165 meters looking forward 100.000000 meters along route # Maximum depth: 647.396484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 565.825165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048088; longitude = -121.057873; captureRadius = 10; duration = 205; initialDepth = 572.754380; finalDepth = 565.825165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0834599999999 # Actual altitude: 76.0834599999999 # Commanded vehicle depth: 565.825165 # Seafloor depth: -640.825165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 304.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.544450 meters # Minimum depth: 647.754380 meters looking forward 100.000000 meters along route # Maximum depth: 652.512976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.754380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048667; longitude = -121.058740; captureRadius = 10; duration = 205; initialDepth = 577.592426; finalDepth = 572.754380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 572.75438 # Seafloor depth: -647.754380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.543992 meters # Minimum depth: 652.592426 meters looking forward 100.000000 meters along route # Maximum depth: 658.321953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.592426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049246; longitude = -121.059606; captureRadius = 10; duration = 205; initialDepth = 582.693331; finalDepth = 577.592426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 577.592426 # Seafloor depth: -652.592426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.398043 meters # Minimum depth: 657.693331 meters looking forward 100.000000 meters along route # Maximum depth: 662.078037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.693331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049824; longitude = -121.060472; captureRadius = 10; duration = 208; initialDepth = 587.185392; finalDepth = 582.693331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.688441 # Actual altitude: 75.688441 # Commanded vehicle depth: 582.693331 # Seafloor depth: -658.381772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 302.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.688573 meters # Minimum depth: 662.185392 meters looking forward 100.000000 meters along route # Maximum depth: 672.835362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.185392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050413; longitude = -121.061354; captureRadius = 10; duration = 201; initialDepth = 598.611101; finalDepth = 587.185392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.688441 # Actual altitude: 75.688441 # Commanded vehicle depth: 587.185392 # Seafloor depth: -662.185392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 302.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.542623 meters # Minimum depth: 673.611101 meters looking forward 100.000000 meters along route # Maximum depth: 681.935817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.611101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050981; longitude = -121.062204; captureRadius = 10; duration = 205; initialDepth = 608.569845; finalDepth = 598.611101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 598.611101 # Seafloor depth: -673.611101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.542166 meters # Minimum depth: 683.569845 meters looking forward 100.000000 meters along route # Maximum depth: 694.116209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.569845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051560; longitude = -121.063071; captureRadius = 10; duration = 205; initialDepth = 619.389441; finalDepth = 608.569845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 608.569845 # Seafloor depth: -683.569845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.541709 meters # Minimum depth: 694.389441 meters looking forward 100.000000 meters along route # Maximum depth: 712.857277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.389441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052138; longitude = -121.063937; captureRadius = 10; duration = 205; initialDepth = 641.215071; finalDepth = 619.389441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 619.389441 # Seafloor depth: -694.389441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.086684 meters # Minimum depth: 716.215071 meters looking forward 100.000000 meters along route # Maximum depth: 751.140001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 641.215071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052717; longitude = -121.064803; captureRadius = 10; duration = 206; initialDepth = 676.364225; finalDepth = 641.215071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 641.215071 # Seafloor depth: -716.215071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 111.867620 meters # Minimum depth: 751.364225 meters looking forward 100.000000 meters along route # Maximum depth: 789.990933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 676.364225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053299; longitude = -121.065674; captureRadius = 10; duration = 223; initialDepth = 718.010903; finalDepth = 676.364225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 676.364225 # Seafloor depth: -751.364225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.213093 meters # Minimum depth: 793.010903 meters looking forward 100.000000 meters along route # Maximum depth: 832.850916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 718.010903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053930; longitude = -121.066619; captureRadius = 10; duration = 202; initialDepth = 752.426553; finalDepth = 718.010903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 718.010903 # Seafloor depth: -793.010903 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 38 # Segment length 91.755323 meters # Minimum depth: 827.426553 meters looking forward 100.000000 meters along route # Maximum depth: 835.265055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 752.426553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054501; longitude = -121.067474; captureRadius = 10; duration = 183; # abortOnTimeout = True; initialDepth = 749.466064; finalDepth = 752.426553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8385019999999 # Actual altitude: 82.8385019999999 # Commanded vehicle depth: 752.426553 # Seafloor depth: -835.265055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.14; 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 38 # Segment length 106.317648 meters # Minimum depth: 824.466064 meters looking forward 100.000000 meters along route # Maximum depth: 827.479532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 749.466064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053902; longitude = -121.068160; captureRadius = 10; duration = 212; initialDepth = 746.549510; finalDepth = 749.466064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8385019999999 # Actual altitude: 82.8385019999999 # Commanded vehicle depth: 749.466064 # Seafloor depth: -827.479532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.14; 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 38 # Segment length 101.340159 meters # Minimum depth: 821.549510 meters looking forward 100.000000 meters along route # Maximum depth: 824.500806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 746.549510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053209; longitude = -121.068954; captureRadius = 10; duration = 202; initialDepth = 703.389862; finalDepth = 746.549510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 78.013468 # Actual altitude: 78.013468 # Commanded vehicle depth: 746.54951 # Seafloor depth: -824.012682 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 312.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 103.435002 meters # Minimum depth: 778.389862 meters looking forward 100.000000 meters along route # Maximum depth: 820.691081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 703.389862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052547; longitude = -121.069712; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 669.721202; finalDepth = 703.389862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.301219 # Actual altitude: 100 # Commanded vehicle depth: 703.389862 # Seafloor depth: -820.691081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.515700 meters # Minimum depth: 744.721202 meters looking forward 100.000000 meters along route # Maximum depth: 775.709478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 669.721202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051889; longitude = -121.068918; captureRadius = 10; duration = 209; initialDepth = 614.048484; finalDepth = 669.721202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.301219 # Actual altitude: 100 # Commanded vehicle depth: 669.721202 # Seafloor depth: -775.709478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.057233 meters # Minimum depth: 689.048484 meters looking forward 100.000000 meters along route # Maximum depth: 743.099298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.048484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051225; longitude = -121.068115; captureRadius = 10; duration = 214; initialDepth = 602.041680; finalDepth = 614.048484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.050814 # Actual altitude: 100 # Commanded vehicle depth: 614.048484 # Seafloor depth: -743.099298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.621417 meters # Minimum depth: 677.041680 meters looking forward 100.000000 meters along route # Maximum depth: 686.029728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.041680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050544; longitude = -121.067293; captureRadius = 10; duration = 211; initialDepth = 598.034130; finalDepth = 602.041680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.050814 # Actual altitude: 100 # Commanded vehicle depth: 602.04168 # Seafloor depth: -686.029728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.953315 meters # Minimum depth: 673.034130 meters looking forward 100.000000 meters along route # Maximum depth: 676.968535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.034130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049872; longitude = -121.066483; captureRadius = 10; duration = 211; initialDepth = 595.816546; finalDepth = 598.034130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.9880479999999 # Actual altitude: 83.9880479999999 # Commanded vehicle depth: 598.03413 # Seafloor depth: -676.968535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 335.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.727153 meters # Minimum depth: 670.816546 meters looking forward 100.000000 meters along route # Maximum depth: 673.953434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.816546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049198; longitude = -121.065669; captureRadius = 10; duration = 213; initialDepth = 591.876708; finalDepth = 595.816546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.934405 # Actual altitude: 78.934405 # Commanded vehicle depth: 595.816546 # Seafloor depth: -673.559578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 315.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.849377 meters # Minimum depth: 666.876708 meters looking forward 100.000000 meters along route # Maximum depth: 670.245043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.876708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048520; longitude = -121.064850; captureRadius = 10; duration = 209; initialDepth = 584.106851; finalDepth = 591.876708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.368335 # Actual altitude: 78.368335 # Commanded vehicle depth: 591.876708 # Seafloor depth: -670.245043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.832907 meters # Minimum depth: 659.106851 meters looking forward 100.000000 meters along route # Maximum depth: 666.327304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.106851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047853; longitude = -121.064045; captureRadius = 10; duration = 215; initialDepth = 577.726556; finalDepth = 584.106851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.220453 # Actual altitude: 82.220453 # Commanded vehicle depth: 584.106851 # Seafloor depth: -666.327304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; 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 37 # Segment length 103.745421 meters # Minimum depth: 652.726556 meters looking forward 100.000000 meters along route # Maximum depth: 658.261504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.726556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047167; longitude = -121.063217; captureRadius = 10; duration = 207; initialDepth = 573.954869; finalDepth = 577.726556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.220453 # Actual altitude: 82.220453 # Commanded vehicle depth: 577.726556 # Seafloor depth: -658.261504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; 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 37 # Segment length 108.938681 meters # Minimum depth: 648.954869 meters looking forward 100.000000 meters along route # Maximum depth: 652.707265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.954869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046507; longitude = -121.062421; captureRadius = 10; duration = 217; initialDepth = 571.331405; finalDepth = 573.954869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.534948 # Actual altitude: 80.534948 # Commanded vehicle depth: 573.954869 # Seafloor depth: -652.707265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; 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 37 # Segment length 102.641445 meters # Minimum depth: 646.331405 meters looking forward 100.000000 meters along route # Maximum depth: 649.366606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.331405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045814; longitude = -121.061585; captureRadius = 10; duration = 205; initialDepth = 571.690307; finalDepth = 571.331405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.752396 # Actual altitude: 78.752396 # Commanded vehicle depth: 571.331405 # Seafloor depth: -649.366606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 315.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.044474 meters # Minimum depth: 646.690307 meters looking forward 100.000000 meters along route # Maximum depth: 649.012081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.690307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045162; longitude = -121.060797; captureRadius = 10; duration = 220; initialDepth = 573.928374; finalDepth = 571.690307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.035201 # Actual altitude: 78.035201 # Commanded vehicle depth: 571.690307 # Seafloor depth: -646.690307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 312.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.537451 meters # Minimum depth: 648.928374 meters looking forward 100.000000 meters along route # Maximum depth: 651.329507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.928374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044462; longitude = -121.059952; captureRadius = 10; duration = 203; initialDepth = 569.234021; finalDepth = 573.928374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.535289 # Actual altitude: 75.535289 # Commanded vehicle depth: 573.928374 # Seafloor depth: -649.463663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 302.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 111.150285 meters # Minimum depth: 644.234021 meters looking forward 100.000000 meters along route # Maximum depth: 651.329507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 569.234021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043816; longitude = -121.059173; captureRadius = 10; duration = 222; initialDepth = 541.463441; finalDepth = 569.234021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0954860000001 # Actual altitude: 82.0954860000001 # Commanded vehicle depth: 569.234021 # Seafloor depth: -651.329507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 328.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.433438 meters # Minimum depth: 616.463441 meters looking forward 100.000000 meters along route # Maximum depth: 642.253620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 541.463441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043109; longitude = -121.058320; captureRadius = 10; duration = 200; initialDepth = 564.956274; finalDepth = 541.463441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.790179 # Actual altitude: 100 # Commanded vehicle depth: 541.463441 # Seafloor depth: -642.253620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 112.845388 meters # Minimum depth: 639.956274 meters looking forward 100.000000 meters along route # Maximum depth: 651.397042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 564.956274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042470; longitude = -121.057549; captureRadius = 10; duration = 225; initialDepth = 576.434566; finalDepth = 564.956274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.790179 # Actual altitude: 100 # Commanded vehicle depth: 564.956274 # Seafloor depth: -640.541533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 112.845900 meters # Minimum depth: 651.434566 meters looking forward 100.000000 meters along route # Maximum depth: 656.843643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.434566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041753; longitude = -121.056682; captureRadius = 10; duration = 225; initialDepth = 579.343362; finalDepth = 576.434566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.585259 # Actual altitude: 75.585259 # Commanded vehicle depth: 576.434566 # Seafloor depth: -651.434566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 302.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 113.435688 meters # Minimum depth: 654.343362 meters looking forward 100.000000 meters along route # Maximum depth: 656.123291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.343362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041035; longitude = -121.055816; captureRadius = 10; duration = 226; initialDepth = 579.344843; finalDepth = 579.343362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.779929 # Actual altitude: 76.779929 # Commanded vehicle depth: 579.343362 # Seafloor depth: -656.123291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 112.257646 meters # Minimum depth: 654.344843 meters looking forward 100.000000 meters along route # Maximum depth: 658.203061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.344843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040314; longitude = -121.054945; captureRadius = 10; duration = 224; initialDepth = 582.804103; finalDepth = 579.344843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.779929 # Actual altitude: 76.779929 # Commanded vehicle depth: 579.344843 # Seafloor depth: -654.344843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.435664 meters # Minimum depth: 657.804103 meters looking forward 100.000000 meters along route # Maximum depth: 661.181388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.804103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039600; longitude = -121.054084; captureRadius = 10; duration = 200; initialDepth = 585.318361; finalDepth = 582.804103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.22426 # Actual altitude: 75.22426 # Commanded vehicle depth: 582.804103 # Seafloor depth: -658.028363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 111.153695 meters # Minimum depth: 660.318361 meters looking forward 100.000000 meters along route # Maximum depth: 661.910583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.318361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038961; longitude = -121.053313; captureRadius = 10; duration = 222; initialDepth = 586.750838; finalDepth = 585.318361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.964292 # Actual altitude: 75.964292 # Commanded vehicle depth: 585.318361 # Seafloor depth: -661.282653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 303.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.541433 meters # Minimum depth: 661.750838 meters looking forward 100.000000 meters along route # Maximum depth: 666.234597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 586.750838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038254; longitude = -121.052460; captureRadius = 10; duration = 203; initialDepth = 591.441994; finalDepth = 586.750838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.964292 # Actual altitude: 75.964292 # Commanded vehicle depth: 586.750838 # Seafloor depth: -662.242479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 303.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.049725 meters # Minimum depth: 666.441994 meters looking forward 100.000000 meters along route # Maximum depth: 671.619707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.441994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037609; longitude = -121.051680; captureRadius = 10; duration = 220; initialDepth = 597.018168; finalDepth = 591.441994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.491641 # Actual altitude: 75.491641 # Commanded vehicle depth: 591.441994 # Seafloor depth: -666.441994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.647220 meters # Minimum depth: 672.018168 meters looking forward 100.000000 meters along route # Maximum depth: 676.494582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.018168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036909; longitude = -121.050835; captureRadius = 10; duration = 205; initialDepth = 601.044300; finalDepth = 597.018168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 597.018168 # Seafloor depth: -672.018168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 108.945737 meters # Minimum depth: 676.044300 meters looking forward 100.000000 meters along route # Maximum depth: 682.422665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.044300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036256; longitude = -121.050048; captureRadius = 10; duration = 217; initialDepth = 609.073689; finalDepth = 601.044300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.603158 # Actual altitude: 75.603158 # Commanded vehicle depth: 601.0443 # Seafloor depth: -676.647458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 302.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.753026 meters # Minimum depth: 684.073689 meters looking forward 100.000000 meters along route # Maximum depth: 689.795738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.073689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035563; longitude = -121.049211; captureRadius = 10; duration = 207; initialDepth = 610.092778; finalDepth = 609.073689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.603158 # Actual altitude: 75.603158 # Commanded vehicle depth: 609.073689 # Seafloor depth: -684.073689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 302.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.841730 meters # Minimum depth: 685.092778 meters looking forward 100.000000 meters along route # Maximum depth: 687.966763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.092778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034903; longitude = -121.048415; captureRadius = 10; duration = 215; initialDepth = 613.663628; finalDepth = 610.092778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1386140000001 # Actual altitude: 75.1386140000001 # Commanded vehicle depth: 610.092778 # Seafloor depth: -685.231392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.858852 meters # Minimum depth: 688.663628 meters looking forward 100.000000 meters along route # Maximum depth: 699.055794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 613.663628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034218; longitude = -121.047587; captureRadius = 10; duration = 209; initialDepth = 623.939099; finalDepth = 613.663628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1386140000001 # Actual altitude: 75.1386140000001 # Commanded vehicle depth: 613.663628 # Seafloor depth: -688.663628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.737704 meters # Minimum depth: 698.939099 meters looking forward 100.000000 meters along route # Maximum depth: 709.341441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 623.939099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033551; longitude = -121.046782; captureRadius = 10; duration = 213; initialDepth = 634.525344; finalDepth = 623.939099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 623.939099 # Seafloor depth: -698.939099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.964695 meters # Minimum depth: 709.525344 meters looking forward 100.000000 meters along route # Maximum depth: 718.769025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 634.525344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032872; longitude = -121.045963; captureRadius = 10; duration = 211; initialDepth = 644.773167; finalDepth = 634.525344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 634.525344 # Seafloor depth: -709.525344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.633659 meters # Minimum depth: 719.773167 meters looking forward 100.000000 meters along route # Maximum depth: 726.336306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.773167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032198; longitude = -121.045150; captureRadius = 10; duration = 211; initialDepth = 651.976956; finalDepth = 644.773167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 644.773167 # Seafloor depth: -719.773167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.070558 meters # Minimum depth: 726.976956 meters looking forward 100.000000 meters along route # Maximum depth: 730.372333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 651.976956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031526; longitude = -121.044339; captureRadius = 10; duration = 214; initialDepth = 654.349641; finalDepth = 651.976956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 651.976956 # Seafloor depth: -726.976956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.529596 meters # Minimum depth: 729.349641 meters looking forward 100.000000 meters along route # Maximum depth: 757.275294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 654.349641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030846; longitude = -121.043517; captureRadius = 10; duration = 209; initialDepth = 683.834717; finalDepth = 654.349641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 654.349641 # Seafloor depth: -729.349641 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.449619 meters # Minimum depth: 758.834717 meters looking forward 100.000000 meters along route # Maximum depth: 779.902512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 683.834717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030181; longitude = -121.042715; captureRadius = 10; duration = 206; initialDepth = 701.775923; finalDepth = 683.834717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 683.834717 # Seafloor depth: -758.834717 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 36 # Segment length 90.254485 meters # Minimum depth: 776.775923 meters looking forward 100.000000 meters along route # Maximum depth: 780.962565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 701.775923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029523; longitude = -121.041921; captureRadius = 10; duration = 180; # abortOnTimeout = True; initialDepth = 690.167797; finalDepth = 701.775923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.186642 # Actual altitude: 79.186642 # Commanded vehicle depth: 701.775923 # Seafloor depth: -780.962565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 316.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 108.305709 meters # Minimum depth: 765.167797 meters looking forward 100.000000 meters along route # Maximum depth: 777.023306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 690.167797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029211; longitude = -121.042823; captureRadius = 10; duration = 216; initialDepth = 694.141575; finalDepth = 690.167797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.8555090000001 # Actual altitude: 86.8555090000001 # Commanded vehicle depth: 690.167797 # Seafloor depth: -777.023306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 347.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 108.306067 meters # Minimum depth: 769.141575 meters looking forward 100.000000 meters along route # Maximum depth: 778.258362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 694.141575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028835; longitude = -121.043906; captureRadius = 10; duration = 216; initialDepth = 692.777230; finalDepth = 694.141575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.8555090000001 # Actual altitude: 86.8555090000001 # Commanded vehicle depth: 694.141575 # Seafloor depth: -773.410544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 347.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.085984 meters # Minimum depth: 767.777230 meters looking forward 100.000000 meters along route # Maximum depth: 774.835515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 692.777230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028460; longitude = -121.044989; captureRadius = 10; duration = 202; initialDepth = 687.557041; finalDepth = 692.777230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.268969 # Actual altitude: 79.268969 # Commanded vehicle depth: 692.77723 # Seafloor depth: -767.777230 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.71; 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 to get to end of line 35 # Segment length 148.051480 meters # Minimum depth: 762.557041 meters looking forward 100.000000 meters along route # Maximum depth: 774.871745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 687.557041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028110; longitude = -121.045999; captureRadius = 10; duration = 296; # abortOnTimeout = True; initialDepth = 672.881869; finalDepth = 687.557041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.314704 # Actual altitude: 87.314704 # Commanded vehicle depth: 687.557041 # Seafloor depth: -774.871745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.93; MB_Bottom_Detect_Filter_Max_Range = 349.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.292511 meters # Minimum depth: 747.881869 meters looking forward 100.000000 meters along route # Maximum depth: 763.394220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 672.881869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029042; longitude = -121.044851; captureRadius = 10; duration = 200; initialDepth = 664.210030; finalDepth = 672.881869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.512351 # Actual altitude: 90.512351 # Commanded vehicle depth: 672.881869 # Seafloor depth: -763.394220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.20; 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 35 # Segment length 100.292167 meters # Minimum depth: 739.210030 meters looking forward 100.000000 meters along route # Maximum depth: 747.010439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.210030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029673; longitude = -121.044074; captureRadius = 10; duration = 200; initialDepth = 669.426303; finalDepth = 664.210030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.512351 # Actual altitude: 90.512351 # Commanded vehicle depth: 664.21003 # Seafloor depth: -747.010439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.20; 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 35 # Segment length 102.940582 meters # Minimum depth: 744.426303 meters looking forward 100.000000 meters along route # Maximum depth: 750.301754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 669.426303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030305; longitude = -121.043296; captureRadius = 10; duration = 205; initialDepth = 674.576291; finalDepth = 669.426303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8004090000001 # Actual altitude: 82.8004090000001 # Commanded vehicle depth: 669.426303 # Seafloor depth: -745.362110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 331.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.418496 meters # Minimum depth: 749.576291 meters looking forward 100.000000 meters along route # Maximum depth: 770.754318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 674.576291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030952; longitude = -121.042498; captureRadius = 10; duration = 204; initialDepth = 692.238024; finalDepth = 674.576291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.9358070000001 # Actual altitude: 75.9358070000001 # Commanded vehicle depth: 674.576291 # Seafloor depth: -749.576291 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.74; 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 34 # Segment length 120.472757 meters # Minimum depth: 767.238024 meters looking forward 100.000000 meters along route # Maximum depth: 771.748535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 692.238024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031597; longitude = -121.041704; captureRadius = 10; duration = 240; # abortOnTimeout = True; initialDepth = 692.066785; finalDepth = 692.238024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.510511 # Actual altitude: 79.510511 # Commanded vehicle depth: 692.238024 # Seafloor depth: -771.748535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 318.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.178168 meters # Minimum depth: 767.066785 meters looking forward 100.000000 meters along route # Maximum depth: 770.828736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 692.066785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032559; longitude = -121.042310; captureRadius = 10; duration = 218; initialDepth = 663.879483; finalDepth = 692.066785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.510511 # Actual altitude: 79.510511 # Commanded vehicle depth: 692.066785 # Seafloor depth: -769.357947 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 318.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 149.668695 meters # Minimum depth: 738.879483 meters looking forward 100.000000 meters along route # Maximum depth: 767.653809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 663.879483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033431; longitude = -121.042859; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 648.629113; finalDepth = 663.879483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.774326 # Actual altitude: 100 # Commanded vehicle depth: 663.879483 # Seafloor depth: -767.653809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 102.218718 meters # Minimum depth: 723.629113 meters looking forward 100.000000 meters along route # Maximum depth: 736.413332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 648.629113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032469; longitude = -121.043996; captureRadius = 10; duration = 204; initialDepth = 643.760210; finalDepth = 648.629113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.774326 # Actual altitude: 100 # Commanded vehicle depth: 648.629113 # Seafloor depth: -736.413332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 108.254153 meters # Minimum depth: 718.760210 meters looking forward 100.000000 meters along route # Maximum depth: 723.029937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 643.760210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031812; longitude = -121.044772; captureRadius = 10; duration = 216; initialDepth = 639.261682; finalDepth = 643.760210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.784219 # Actual altitude: 87.784219 # Commanded vehicle depth: 643.76021 # Seafloor depth: -723.029937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.11; 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 33 # Segment length 105.614186 meters # Minimum depth: 714.261682 meters looking forward 100.000000 meters along route # Maximum depth: 723.715431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 639.261682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031116; longitude = -121.045594; captureRadius = 10; duration = 211; initialDepth = 646.086071; finalDepth = 639.261682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.269727 # Actual altitude: 79.269727 # Commanded vehicle depth: 639.261682 # Seafloor depth: -718.450530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.71; 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 33 # Segment length 104.860169 meters # Minimum depth: 721.086071 meters looking forward 100.000000 meters along route # Maximum depth: 724.075510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 646.086071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030437; longitude = -121.046396; captureRadius = 10; duration = 209; initialDepth = 650.130497; finalDepth = 646.086071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.188848 # Actual altitude: 79.188848 # Commanded vehicle depth: 646.086071 # Seafloor depth: -722.647191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.009702 meters # Minimum depth: 725.130497 meters looking forward 100.000000 meters along route # Maximum depth: 743.040537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 650.130497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029764; longitude = -121.047192; captureRadius = 10; duration = 218; initialDepth = 671.256990; finalDepth = 650.130497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5611200000001 # Actual altitude: 76.5611200000001 # Commanded vehicle depth: 650.130497 # Seafloor depth: -725.130497 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.466136 meters # Minimum depth: 746.256990 meters looking forward 100.000000 meters along route # Maximum depth: 754.440736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.256990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029063; longitude = -121.048020; captureRadius = 10; duration = 202; initialDepth = 679.570055; finalDepth = 671.256990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.27625 # Actual altitude: 75.27625 # Commanded vehicle depth: 671.25699 # Seafloor depth: -746.533240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; 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 33 # Segment length 102.899839 meters # Minimum depth: 754.570055 meters looking forward 100.000000 meters along route # Maximum depth: 773.751591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 679.570055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028411; longitude = -121.048791; captureRadius = 10; duration = 205; initialDepth = 694.508320; finalDepth = 679.570055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.27625 # Actual altitude: 75.27625 # Commanded vehicle depth: 679.570055 # Seafloor depth: -754.570055 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 77.705040 meters # Minimum depth: 769.508320 meters looking forward 100.000000 meters along route # Maximum depth: 773.898926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 694.508320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027750; longitude = -121.049572; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 695.288628; finalDepth = 694.508320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3906059999999 # Actual altitude: 79.3906059999999 # Commanded vehicle depth: 694.50832 # Seafloor depth: -773.898926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.354512 meters # Minimum depth: 770.288628 meters looking forward 100.000000 meters along route # Maximum depth: 776.571592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 695.288628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027635; longitude = -121.050402; captureRadius = 10; duration = 202; initialDepth = 699.471931; finalDepth = 695.288628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3906059999999 # Actual altitude: 79.3906059999999 # Commanded vehicle depth: 695.288628 # Seafloor depth: -771.454041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 107.222543 meters # Minimum depth: 774.471931 meters looking forward 100.000000 meters along route # Maximum depth: 780.910494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 699.471931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027486; longitude = -121.051485; captureRadius = 10; duration = 214; initialDepth = 705.976116; finalDepth = 699.471931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6606459999999 # Actual altitude: 76.6606459999999 # Commanded vehicle depth: 699.471931 # Seafloor depth: -776.132577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 306.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.243852 meters # Minimum depth: 780.976116 meters looking forward 100.000000 meters along route # Maximum depth: 788.611451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.976116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027329; longitude = -121.052631; captureRadius = 10; duration = 204; initialDepth = 688.267045; finalDepth = 705.976116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.6606459999999 # Actual altitude: 76.6606459999999 # Commanded vehicle depth: 705.976116 # Seafloor depth: -780.976116 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 306.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 109.615150 meters # Minimum depth: 763.267045 meters looking forward 100.000000 meters along route # Maximum depth: 788.858968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 688.267045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027179; longitude = -121.053723; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 668.741604; finalDepth = 688.267045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.591923 # Actual altitude: 100 # Commanded vehicle depth: 688.267045 # Seafloor depth: -788.858968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.083048 meters # Minimum depth: 743.741604 meters looking forward 100.000000 meters along route # Maximum depth: 762.986239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 668.741604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027885; longitude = -121.052893; captureRadius = 10; duration = 200; initialDepth = 653.233021; finalDepth = 668.741604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.591923 # Actual altitude: 100 # Commanded vehicle depth: 668.741604 # Seafloor depth: -762.986239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.082712 meters # Minimum depth: 728.233021 meters looking forward 100.000000 meters along route # Maximum depth: 743.337820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.233021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028530; longitude = -121.052135; captureRadius = 10; duration = 200; initialDepth = 635.828946; finalDepth = 653.233021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.2446349999999 # Actual altitude: 94.2446349999999 # Commanded vehicle depth: 653.233021 # Seafloor depth: -743.337820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.70; 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 31 # Segment length 100.082379 meters # Minimum depth: 710.828946 meters looking forward 100.000000 meters along route # Maximum depth: 727.799507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 635.828946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029175; longitude = -121.051377; captureRadius = 10; duration = 200; initialDepth = 630.409643; finalDepth = 635.828946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.970561 # Actual altitude: 91.970561 # Commanded vehicle depth: 635.828946 # Seafloor depth: -727.799507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.79; 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 31 # Segment length 100.082043 meters # Minimum depth: 705.409643 meters looking forward 100.000000 meters along route # Maximum depth: 710.404461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 630.409643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029820; longitude = -121.050619; captureRadius = 10; duration = 200; initialDepth = 626.649004; finalDepth = 630.409643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.970561 # Actual altitude: 91.970561 # Commanded vehicle depth: 630.409643 # Seafloor depth: -710.404461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.79; 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 31 # Segment length 100.081710 meters # Minimum depth: 701.649004 meters looking forward 100.000000 meters along route # Maximum depth: 703.817083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.649004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030464; longitude = -121.049861; captureRadius = 10; duration = 200; initialDepth = 617.056931; finalDepth = 626.649004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.994818 # Actual altitude: 79.994818 # Commanded vehicle depth: 626.649004 # Seafloor depth: -702.790232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; 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 during line 31 # Segment length 100.081374 meters # Minimum depth: 692.056931 meters looking forward 100.000000 meters along route # Maximum depth: 699.796341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 617.056931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031109; longitude = -121.049103; captureRadius = 10; duration = 200; initialDepth = 613.540343; finalDepth = 617.056931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.73941 # Actual altitude: 82.73941 # Commanded vehicle depth: 617.056931 # Seafloor depth: -699.796341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 330.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.081041 meters # Minimum depth: 688.540343 meters looking forward 100.000000 meters along route # Maximum depth: 694.031556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 613.540343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031754; longitude = -121.048345; captureRadius = 10; duration = 200; initialDepth = 616.452917; finalDepth = 613.540343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.73941 # Actual altitude: 82.73941 # Commanded vehicle depth: 613.540343 # Seafloor depth: -692.951612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 330.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.080705 meters # Minimum depth: 691.452917 meters looking forward 100.000000 meters along route # Maximum depth: 696.922394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.452917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032399; longitude = -121.047587; captureRadius = 10; duration = 200; initialDepth = 619.380157; finalDepth = 616.452917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4112689999999 # Actual altitude: 79.4112689999999 # Commanded vehicle depth: 616.452917 # Seafloor depth: -691.479237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.080372 meters # Minimum depth: 694.380157 meters looking forward 100.000000 meters along route # Maximum depth: 706.448746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.380157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033044; longitude = -121.046829; captureRadius = 10; duration = 200; initialDepth = 626.648061; finalDepth = 619.380157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0263200000001 # Actual altitude: 75.0263200000001 # Commanded vehicle depth: 619.380157 # Seafloor depth: -694.380157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.080036 meters # Minimum depth: 701.648061 meters looking forward 100.000000 meters along route # Maximum depth: 717.037178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.648061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033689; longitude = -121.046071; captureRadius = 10; duration = 200; initialDepth = 644.527637; finalDepth = 626.648061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 626.648061 # Seafloor depth: -701.648061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.403609 meters # Minimum depth: 719.527637 meters looking forward 100.000000 meters along route # Maximum depth: 744.661311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.527637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034334; longitude = -121.045313; captureRadius = 10; duration = 204; initialDepth = 670.697472; finalDepth = 644.527637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 644.527637 # Seafloor depth: -719.527637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.286812 meters # Minimum depth: 745.697472 meters looking forward 100.000000 meters along route # Maximum depth: 784.394211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 670.697472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034994; longitude = -121.044538; captureRadius = 10; duration = 214; initialDepth = 712.492676; finalDepth = 670.697472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 670.697472 # Seafloor depth: -745.697472 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 30 # Segment length 141.868060 meters # Minimum depth: 787.492676 meters looking forward 100.000000 meters along route # Maximum depth: 795.657129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 712.492676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035685; longitude = -121.043725; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 701.448354; finalDepth = 712.492676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 712.492676 # Seafloor depth: -787.492676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.176685 meters # Minimum depth: 776.448354 meters looking forward 100.000000 meters along route # Maximum depth: 795.190015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 701.448354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036920; longitude = -121.044122; captureRadius = 10; duration = 206; initialDepth = 662.077806; finalDepth = 701.448354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 93.741661 # Actual altitude: 93.741661 # Commanded vehicle depth: 701.448354 # Seafloor depth: -795.190015 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; 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 29 # Segment length 147.213613 meters # Minimum depth: 737.077806 meters looking forward 100.000000 meters along route # Maximum depth: 775.954102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.077806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037819; longitude = -121.044411; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 639.581862; finalDepth = 662.077806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.876296 # Actual altitude: 100 # Commanded vehicle depth: 662.077806 # Seafloor depth: -775.954102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.214241 meters # Minimum depth: 714.581862 meters looking forward 100.000000 meters along route # Maximum depth: 736.444788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 639.581862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036874; longitude = -121.045530; captureRadius = 10; duration = 220; initialDepth = 624.390912; finalDepth = 639.581862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.876296 # Actual altitude: 100 # Commanded vehicle depth: 639.581862 # Seafloor depth: -736.444788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.484231 meters # Minimum depth: 699.390912 meters looking forward 100.000000 meters along route # Maximum depth: 713.195421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 624.390912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.046368; captureRadius = 10; duration = 206; initialDepth = 609.430675; finalDepth = 624.390912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.862926 # Actual altitude: 96.862926 # Commanded vehicle depth: 624.390912 # Seafloor depth: -713.195421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.75; 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 29 # Segment length 107.140210 meters # Minimum depth: 684.430675 meters looking forward 100.000000 meters along route # Maximum depth: 699.592312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.430675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035501; longitude = -121.047154; captureRadius = 10; duration = 214; initialDepth = 600.753590; finalDepth = 609.430675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.161637 # Actual altitude: 90.161637 # Commanded vehicle depth: 609.430675 # Seafloor depth: -699.592312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.06; 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 29 # Segment length 106.559794 meters # Minimum depth: 675.753590 meters looking forward 100.000000 meters along route # Maximum depth: 687.470739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.753590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.047968; captureRadius = 10; duration = 213; initialDepth = 596.973305; finalDepth = 600.753590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.161637 # Actual altitude: 90.161637 # Commanded vehicle depth: 600.75359 # Seafloor depth: -682.192254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.06; 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 29 # Segment length 104.066136 meters # Minimum depth: 671.973305 meters looking forward 100.000000 meters along route # Maximum depth: 676.220604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.973305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034129; longitude = -121.048778; captureRadius = 10; duration = 208; initialDepth = 598.994118; finalDepth = 596.973305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.438664 # Actual altitude: 81.438664 # Commanded vehicle depth: 596.973305 # Seafloor depth: -675.979204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 325.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.635399 meters # Minimum depth: 673.994118 meters looking forward 100.000000 meters along route # Maximum depth: 678.654096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.994118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.049569; captureRadius = 10; duration = 219; initialDepth = 601.174471; finalDepth = 598.994118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.005899 # Actual altitude: 79.005899 # Commanded vehicle depth: 598.994118 # Seafloor depth: -676.542448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 316.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.992017 meters # Minimum depth: 676.174471 meters looking forward 100.000000 meters along route # Maximum depth: 681.374622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.174471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032757; longitude = -121.050402; captureRadius = 10; duration = 201; initialDepth = 606.613263; finalDepth = 601.174471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5483300000001 # Actual altitude: 77.5483300000001 # Commanded vehicle depth: 601.174471 # Seafloor depth: -676.174471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 112.335231 meters # Minimum depth: 681.613263 meters looking forward 100.000000 meters along route # Maximum depth: 687.681022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.613263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032108; longitude = -121.051170; captureRadius = 10; duration = 224; initialDepth = 613.233653; finalDepth = 606.613263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 606.613263 # Seafloor depth: -681.613263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.104440 meters # Minimum depth: 688.233653 meters looking forward 100.000000 meters along route # Maximum depth: 695.492636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 613.233653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031387; longitude = -121.052024; captureRadius = 10; duration = 200; initialDepth = 620.770576; finalDepth = 613.233653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 613.233653 # Seafloor depth: -688.233653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.525258 meters # Minimum depth: 695.770576 meters looking forward 100.000000 meters along route # Maximum depth: 705.482891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 620.770576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030744; longitude = -121.052784; captureRadius = 10; duration = 221; initialDepth = 631.416973; finalDepth = 620.770576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 620.770576 # Seafloor depth: -695.770576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.180054 meters # Minimum depth: 706.416973 meters looking forward 100.000000 meters along route # Maximum depth: 720.233251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 631.416973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030034; longitude = -121.053624; captureRadius = 10; duration = 206; initialDepth = 646.449682; finalDepth = 631.416973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 631.416973 # Seafloor depth: -706.416973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.451131 meters # Minimum depth: 721.449682 meters looking forward 100.000000 meters along route # Maximum depth: 735.610559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 646.449682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029371; longitude = -121.054409; captureRadius = 10; duration = 214; initialDepth = 660.934329; finalDepth = 646.449682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 646.449682 # Seafloor depth: -721.449682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.255712 meters # Minimum depth: 735.934329 meters looking forward 100.000000 meters along route # Maximum depth: 745.003094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 660.934329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028681; longitude = -121.055225; captureRadius = 10; duration = 212; initialDepth = 670.445339; finalDepth = 660.934329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 660.934329 # Seafloor depth: -735.934329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.376961 meters # Minimum depth: 745.445339 meters looking forward 100.000000 meters along route # Maximum depth: 751.466569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 670.445339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027999; longitude = -121.056033; captureRadius = 10; duration = 208; initialDepth = 669.430115; finalDepth = 670.445339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 670.445339 # Seafloor depth: -745.445339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.331414 meters # Minimum depth: 744.430115 meters looking forward 100.000000 meters along route # Maximum depth: 752.232285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 669.430115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027329; longitude = -121.056826; captureRadius = 10; duration = 218; initialDepth = 678.489762; finalDepth = 669.430115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.591082 # Actual altitude: 77.591082 # Commanded vehicle depth: 669.430115 # Seafloor depth: -747.021197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; 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 29 # Segment length 101.302747 meters # Minimum depth: 753.489762 meters looking forward 100.000000 meters along route # Maximum depth: 768.188363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 678.489762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026627; longitude = -121.057657; captureRadius = 10; duration = 202; initialDepth = 693.347075; finalDepth = 678.489762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.591082 # Actual altitude: 77.591082 # Commanded vehicle depth: 678.489762 # Seafloor depth: -753.489762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; 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 29 # Segment length 107.658034 meters # Minimum depth: 768.347075 meters looking forward 100.000000 meters along route # Maximum depth: 783.303588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 693.347075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025976; longitude = -121.058427; captureRadius = 10; duration = 215; initialDepth = 686.341654; finalDepth = 693.347075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 693.347075 # Seafloor depth: -768.347075 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 28 # Segment length 173.444746 meters # Minimum depth: 761.341654 meters looking forward 100.000000 meters along route # Maximum depth: 783.939616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 686.341654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025285; longitude = -121.059245; captureRadius = 10; duration = 346; # abortOnTimeout = True; initialDepth = 681.605155; finalDepth = 686.341654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5979620000001 # Actual altitude: 97.5979620000001 # Commanded vehicle depth: 686.341654 # Seafloor depth: -783.939616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; 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 28 # Segment length 106.735105 meters # Minimum depth: 756.605155 meters looking forward 100.000000 meters along route # Maximum depth: 761.633721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 681.605155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025341; longitude = -121.061122; captureRadius = 10; duration = 213; initialDepth = 675.692586; finalDepth = 681.605155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 97.5979620000001 # Actual altitude: 97.5979620000001 # Commanded vehicle depth: 681.605155 # Seafloor depth: -760.015919 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; 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 27 # Segment length 80.826942 meters # Minimum depth: 750.692586 meters looking forward 100.000000 meters along route # Maximum depth: 762.662923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 675.692586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025375; longitude = -121.062277; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 676.462745; finalDepth = 675.692586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.970337 # Actual altitude: 86.970337 # Commanded vehicle depth: 675.692586 # Seafloor depth: -762.662923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 110.872822 meters # Minimum depth: 751.462745 meters looking forward 100.000000 meters along route # Maximum depth: 758.214008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 676.462745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025895; longitude = -121.061663; captureRadius = 10; duration = 221; initialDepth = 679.067245; finalDepth = 676.462745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.970337 # Actual altitude: 86.970337 # Commanded vehicle depth: 676.462745 # Seafloor depth: -751.462745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.079791 meters # Minimum depth: 754.067245 meters looking forward 100.000000 meters along route # Maximum depth: 757.373362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 679.067245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026607; longitude = -121.060821; captureRadius = 10; duration = 206; initialDepth = 664.211225; finalDepth = 679.067245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6873810000001 # Actual altitude: 76.6873810000001 # Commanded vehicle depth: 679.067245 # Seafloor depth: -755.754626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 306.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.320972 meters # Minimum depth: 739.211225 meters looking forward 100.000000 meters along route # Maximum depth: 752.753747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.211225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027270; longitude = -121.060039; captureRadius = 10; duration = 214; initialDepth = 656.104367; finalDepth = 664.211225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.542522 # Actual altitude: 88.542522 # Commanded vehicle depth: 664.211225 # Seafloor depth: -752.753747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.42; 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 106.630107 meters # Minimum depth: 731.104367 meters looking forward 100.000000 meters along route # Maximum depth: 737.972004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 656.104367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027960; longitude = -121.059224; captureRadius = 10; duration = 213; initialDepth = 642.663338; finalDepth = 656.104367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.542522 # Actual altitude: 88.542522 # Commanded vehicle depth: 656.104367 # Seafloor depth: -737.972004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.42; 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 103.769174 meters # Minimum depth: 717.663338 meters looking forward 100.000000 meters along route # Maximum depth: 729.352002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 642.663338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028646; longitude = -121.058415; captureRadius = 10; duration = 207; initialDepth = 638.851342; finalDepth = 642.663338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.688664 # Actual altitude: 86.688664 # Commanded vehicle depth: 642.663338 # Seafloor depth: -729.352002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 346.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 110.180372 meters # Minimum depth: 713.851342 meters looking forward 100.000000 meters along route # Maximum depth: 717.002492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 638.851342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029313; longitude = -121.057627; captureRadius = 10; duration = 220; initialDepth = 621.972550; finalDepth = 638.851342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.688664 # Actual altitude: 86.688664 # Commanded vehicle depth: 638.851342 # Seafloor depth: -716.753809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 346.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.217425 meters # Minimum depth: 696.972550 meters looking forward 100.000000 meters along route # Maximum depth: 712.095778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 621.972550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030021; longitude = -121.056791; captureRadius = 10; duration = 200; initialDepth = 616.212526; finalDepth = 621.972550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.123228 # Actual altitude: 90.123228 # Commanded vehicle depth: 621.97255 # Seafloor depth: -712.095778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.05; 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 113.730588 meters # Minimum depth: 691.212526 meters looking forward 100.000000 meters along route # Maximum depth: 696.940914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.212526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030665; longitude = -121.056030; captureRadius = 10; duration = 227; initialDepth = 609.573319; finalDepth = 616.212526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.123228 # Actual altitude: 90.123228 # Commanded vehicle depth: 616.212526 # Seafloor depth: -696.940914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.05; 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 110.692095 meters # Minimum depth: 684.573319 meters looking forward 100.000000 meters along route # Maximum depth: 693.705639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.573319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031396; longitude = -121.055167; captureRadius = 10; duration = 221; initialDepth = 605.140143; finalDepth = 609.573319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.156414 # Actual altitude: 82.156414 # Commanded vehicle depth: 609.573319 # Seafloor depth: -691.729733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 328.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.254384 meters # Minimum depth: 680.140143 meters looking forward 100.000000 meters along route # Maximum depth: 683.751265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.140143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032108; longitude = -121.054326; captureRadius = 10; duration = 206; initialDepth = 596.082591; finalDepth = 605.140143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.156414 # Actual altitude: 82.156414 # Commanded vehicle depth: 605.140143 # Seafloor depth: -683.751265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 328.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.140349 meters # Minimum depth: 671.082591 meters looking forward 100.000000 meters along route # Maximum depth: 679.695610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.082591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032772; longitude = -121.053542; captureRadius = 10; duration = 214; initialDepth = 595.146741; finalDepth = 596.082591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.613019 # Actual altitude: 83.613019 # Commanded vehicle depth: 596.082591 # Seafloor depth: -679.695610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 334.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.804598 meters # Minimum depth: 670.146741 meters looking forward 100.000000 meters along route # Maximum depth: 672.114510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.146741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.052729; captureRadius = 10; duration = 213; initialDepth = 594.574077; finalDepth = 595.146741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.613019 # Actual altitude: 83.613019 # Commanded vehicle depth: 595.146741 # Seafloor depth: -670.927410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 334.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.588653 meters # Minimum depth: 669.574077 meters looking forward 100.000000 meters along route # Maximum depth: 673.406763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.574077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034147; longitude = -121.051918; captureRadius = 10; duration = 207; initialDepth = 597.499943; finalDepth = 594.574077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0521660000001 # Actual altitude: 77.0521660000001 # Commanded vehicle depth: 594.574077 # Seafloor depth: -671.626243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 308.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 110.354761 meters # Minimum depth: 672.499943 meters looking forward 100.000000 meters along route # Maximum depth: 675.205349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.499943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.051132; captureRadius = 10; duration = 220; initialDepth = 599.958658; finalDepth = 597.499943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0521660000001 # Actual altitude: 77.0521660000001 # Commanded vehicle depth: 597.499943 # Seafloor depth: -673.425252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 308.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.037007 meters # Minimum depth: 674.958658 meters looking forward 100.000000 meters along route # Maximum depth: 679.998438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.958658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035523; longitude = -121.050294; captureRadius = 10; duration = 200; initialDepth = 602.379451; finalDepth = 599.958658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.146317 # Actual altitude: 76.146317 # Commanded vehicle depth: 599.958658 # Seafloor depth: -676.104975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 112.208337 meters # Minimum depth: 677.379451 meters looking forward 100.000000 meters along route # Maximum depth: 690.540235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.379451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.049535; captureRadius = 10; duration = 224; initialDepth = 616.957701; finalDepth = 602.379451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.146317 # Actual altitude: 76.146317 # Commanded vehicle depth: 602.379451 # Seafloor depth: -677.379451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.535556 meters # Minimum depth: 691.957701 meters looking forward 100.000000 meters along route # Maximum depth: 702.075478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.957701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036887; longitude = -121.048683; captureRadius = 10; duration = 203; initialDepth = 627.885827; finalDepth = 616.957701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 616.957701 # Seafloor depth: -691.957701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.853939 meters # Minimum depth: 702.885827 meters looking forward 100.000000 meters along route # Maximum depth: 712.958728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 627.885827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037540; longitude = -121.047912; captureRadius = 10; duration = 217; initialDepth = 638.231435; finalDepth = 627.885827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 627.885827 # Seafloor depth: -702.885827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.085693 meters # Minimum depth: 713.231435 meters looking forward 100.000000 meters along route # Maximum depth: 725.403417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 638.231435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038240; longitude = -121.047086; captureRadius = 10; duration = 210; initialDepth = 650.496985; finalDepth = 638.231435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 638.231435 # Seafloor depth: -713.231435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.302320 meters # Minimum depth: 725.496985 meters looking forward 100.000000 meters along route # Maximum depth: 733.571925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 650.496985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038915; longitude = -121.046288; captureRadius = 10; duration = 210; initialDepth = 659.408836; finalDepth = 650.496985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 650.496985 # Seafloor depth: -725.496985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.635780 meters # Minimum depth: 734.408836 meters looking forward 100.000000 meters along route # Maximum depth: 740.797007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 659.408836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039592; longitude = -121.045488; captureRadius = 10; duration = 217; initialDepth = 664.267246; finalDepth = 659.408836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 659.408836 # Seafloor depth: -734.408836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.750750 meters # Minimum depth: 739.267246 meters looking forward 100.000000 meters along route # Maximum depth: 745.365342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.267246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040291; longitude = -121.044664; captureRadius = 10; duration = 203; initialDepth = 664.339095; finalDepth = 664.267246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8137829999999 # Actual altitude: 75.8137829999999 # Commanded vehicle depth: 664.267246 # Seafloor depth: -740.081029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 112.205543 meters # Minimum depth: 739.339095 meters looking forward 100.000000 meters along route # Maximum depth: 755.575255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.339095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040945; longitude = -121.043891; captureRadius = 10; duration = 224; initialDepth = 680.580562; finalDepth = 664.339095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8137829999999 # Actual altitude: 75.8137829999999 # Commanded vehicle depth: 664.339095 # Seafloor depth: -739.339095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 112.205122 meters # Minimum depth: 755.580562 meters looking forward 100.000000 meters along route # Maximum depth: 771.471985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 680.580562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041666; longitude = -121.043039; captureRadius = 10; duration = 224; initialDepth = 698.889751; finalDepth = 680.580562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 680.580562 # Seafloor depth: -755.580562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.710186 meters # Minimum depth: 773.889751 meters looking forward 100.000000 meters along route # Maximum depth: 803.906503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 698.889751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042388; longitude = -121.042188; captureRadius = 10; duration = 203; initialDepth = 730.200960; finalDepth = 698.889751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 698.889751 # Seafloor depth: -773.889751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.673281 meters # Minimum depth: 805.200960 meters looking forward 100.000000 meters along route # Maximum depth: 839.225678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 730.200960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043042; longitude = -121.041415; captureRadius = 10; duration = 217; initialDepth = 751.557887; finalDepth = 730.200960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 730.20096 # Seafloor depth: -805.200960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.260220 meters # Minimum depth: 826.557887 meters looking forward 100.000000 meters along route # Maximum depth: 841.203819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 751.557887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043740; longitude = -121.040590; captureRadius = 10; duration = 210; initialDepth = 729.430454; finalDepth = 751.557887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.281575 # Actual altitude: 88.281575 # Commanded vehicle depth: 751.557887 # Seafloor depth: -839.839462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.31; 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 105.121765 meters # Minimum depth: 804.430454 meters looking forward 100.000000 meters along route # Maximum depth: 825.187088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 729.430454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044417; longitude = -121.039791; captureRadius = 10; duration = 210; initialDepth = 714.100135; finalDepth = 729.430454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.756634 # Actual altitude: 95.756634 # Commanded vehicle depth: 729.430454 # Seafloor depth: -825.187088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.810204 meters # Minimum depth: 789.100135 meters looking forward 100.000000 meters along route # Maximum depth: 804.686008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 714.100135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045093; longitude = -121.038993; captureRadius = 10; duration = 217; initialDepth = 719.980788; finalDepth = 714.100135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.756634 # Actual altitude: 95.756634 # Commanded vehicle depth: 714.100135 # Seafloor depth: -804.686008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.570299 meters # Minimum depth: 794.980788 meters looking forward 100.000000 meters along route # Maximum depth: 806.080321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 719.980788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045793; longitude = -121.038167; captureRadius = 10; duration = 203; initialDepth = 714.134026; finalDepth = 719.980788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.585873 # Actual altitude: 90.585873 # Commanded vehicle depth: 719.980788 # Seafloor depth: -794.980788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.852151 meters # Minimum depth: 789.134026 meters looking forward 100.000000 meters along route # Maximum depth: 802.061288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 714.134026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046446; longitude = -121.037396; captureRadius = 10; duration = 205; initialDepth = 696.778857; finalDepth = 714.134026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 87.927262 # Actual altitude: 87.927262 # Commanded vehicle depth: 714.134026 # Seafloor depth: -802.061288 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 147.799086 meters # Minimum depth: 771.778857 meters looking forward 100.000000 meters along route # Maximum depth: 788.922038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 696.778857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047107; longitude = -121.036615; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 698.354355; finalDepth = 696.778857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.143181 # Actual altitude: 92.143181 # Commanded vehicle depth: 696.778857 # Seafloor depth: -788.922038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; 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 26 # Segment length 100.772109 meters # Minimum depth: 773.354355 meters looking forward 100.000000 meters along route # Maximum depth: 776.677499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 698.354355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048429; longitude = -121.036420; captureRadius = 10; duration = 201; initialDepth = 700.228446; finalDepth = 698.354355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.143181 # Actual altitude: 92.143181 # Commanded vehicle depth: 698.354355 # Seafloor depth: -776.677499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; 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 26 # Segment length 107.490253 meters # Minimum depth: 775.228446 meters looking forward 100.000000 meters along route # Maximum depth: 778.129115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 700.228446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049331; longitude = -121.036288; captureRadius = 10; duration = 214; initialDepth = 671.615748; finalDepth = 700.228446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 78.323144 # Actual altitude: 78.323144 # Commanded vehicle depth: 700.228446 # Seafloor depth: -775.310147 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 138.052065 meters # Minimum depth: 746.615748 meters looking forward 100.000000 meters along route # Maximum depth: 779.379883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.615748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050293; longitude = -121.036146; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 653.709462; finalDepth = 671.615748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.764135 # Actual altitude: 100 # Commanded vehicle depth: 671.615748 # Seafloor depth: -779.379883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.398475 meters # Minimum depth: 728.709462 meters looking forward 100.000000 meters along route # Maximum depth: 746.246386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.709462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049404; longitude = -121.037193; captureRadius = 10; duration = 218; initialDepth = 641.171088; finalDepth = 653.709462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.764135 # Actual altitude: 100 # Commanded vehicle depth: 653.709462 # Seafloor depth: -746.246386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.821509 meters # Minimum depth: 716.171088 meters looking forward 100.000000 meters along route # Maximum depth: 727.166561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 641.171088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048700; longitude = -121.038022; captureRadius = 10; duration = 209; initialDepth = 641.948691; finalDepth = 641.171088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.536924 # Actual altitude: 92.536924 # Commanded vehicle depth: 641.171088 # Seafloor depth: -727.166561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.01; 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 25 # Segment length 105.279614 meters # Minimum depth: 716.948691 meters looking forward 100.000000 meters along route # Maximum depth: 718.851794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 641.948691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048025; longitude = -121.038817; captureRadius = 10; duration = 210; initialDepth = 639.497311; finalDepth = 641.948691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9954729999999 # Actual altitude: 85.9954729999999 # Commanded vehicle depth: 641.948691 # Seafloor depth: -717.615859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 343.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.941904 meters # Minimum depth: 714.497311 meters looking forward 100.000000 meters along route # Maximum depth: 718.375849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 639.497311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047347; longitude = -121.039615; captureRadius = 10; duration = 217; initialDepth = 640.879985; finalDepth = 639.497311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.157446 # Actual altitude: 78.157446 # Commanded vehicle depth: 639.497311 # Seafloor depth: -717.654757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 312.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.160695 meters # Minimum depth: 715.879985 meters looking forward 100.000000 meters along route # Maximum depth: 727.119923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 640.879985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046646; longitude = -121.040441; captureRadius = 10; duration = 202; initialDepth = 652.281591; finalDepth = 640.879985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.157446 # Actual altitude: 78.157446 # Commanded vehicle depth: 640.879985 # Seafloor depth: -715.879985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 312.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 112.055323 meters # Minimum depth: 727.281591 meters looking forward 100.000000 meters along route # Maximum depth: 745.331562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 652.281591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045995; longitude = -121.041208; captureRadius = 10; duration = 224; initialDepth = 672.499069; finalDepth = 652.281591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 652.281591 # Seafloor depth: -727.281591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.978318 meters # Minimum depth: 747.499069 meters looking forward 100.000000 meters along route # Maximum depth: 758.464382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 672.499069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045273; longitude = -121.042057; captureRadius = 10; duration = 201; initialDepth = 673.410674; finalDepth = 672.499069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 672.499069 # Seafloor depth: -747.499069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.126544 meters # Minimum depth: 748.410674 meters looking forward 100.000000 meters along route # Maximum depth: 758.440815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 673.410674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044623; longitude = -121.042823; captureRadius = 10; duration = 218; initialDepth = 636.289512; finalDepth = 673.410674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0301410000001 # Actual altitude: 85.0301410000001 # Commanded vehicle depth: 673.410674 # Seafloor depth: -758.440815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.01; MB_Bottom_Detect_Filter_Max_Range = 340.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.098759 meters # Minimum depth: 711.289512 meters looking forward 100.000000 meters along route # Maximum depth: 747.394840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 636.289512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043921; longitude = -121.043650; captureRadius = 10; duration = 210; initialDepth = 625.596120; finalDepth = 636.289512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.105328 # Actual altitude: 100 # Commanded vehicle depth: 636.289512 # Seafloor depth: -747.394840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.007579 meters # Minimum depth: 700.596120 meters looking forward 100.000000 meters along route # Maximum depth: 710.072961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 625.596120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043244; longitude = -121.044447; captureRadius = 10; duration = 210; initialDepth = 617.977460; finalDepth = 625.596120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.105328 # Actual altitude: 100 # Commanded vehicle depth: 625.59612 # Seafloor depth: -710.072961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.219259 meters # Minimum depth: 692.977460 meters looking forward 100.000000 meters along route # Maximum depth: 700.325981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 617.977460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042568; longitude = -121.045243; captureRadius = 10; duration = 218; initialDepth = 610.649495; finalDepth = 617.977460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.4768409999999 # Actual altitude: 84.4768409999999 # Commanded vehicle depth: 617.97746 # Seafloor depth: -700.325981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.79; MB_Bottom_Detect_Filter_Max_Range = 337.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.888556 meters # Minimum depth: 685.649495 meters looking forward 100.000000 meters along route # Maximum depth: 691.718656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.649495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041865; longitude = -121.046071; captureRadius = 10; duration = 201; initialDepth = 610.224874; finalDepth = 610.649495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.348521 # Actual altitude: 82.348521 # Commanded vehicle depth: 610.649495 # Seafloor depth: -691.718656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 112.058105 meters # Minimum depth: 685.224874 meters looking forward 100.000000 meters along route # Maximum depth: 686.570765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.224874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041216; longitude = -121.046836; captureRadius = 10; duration = 224; initialDepth = 604.850067; finalDepth = 610.224874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.069161 # Actual altitude: 81.069161 # Commanded vehicle depth: 610.224874 # Seafloor depth: -685.595749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 324.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.255478 meters # Minimum depth: 679.850067 meters looking forward 100.000000 meters along route # Maximum depth: 685.229468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 604.850067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040494; longitude = -121.047686; captureRadius = 10; duration = 202; initialDepth = 602.983088; finalDepth = 604.850067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.379401 # Actual altitude: 80.379401 # Commanded vehicle depth: 604.850067 # Seafloor depth: -685.229468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.854600 meters # Minimum depth: 677.983088 meters looking forward 100.000000 meters along route # Maximum depth: 680.845212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.983088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039842; longitude = -121.048453; captureRadius = 10; duration = 217; initialDepth = 600.276130; finalDepth = 602.983088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.379401 # Actual altitude: 80.379401 # Commanded vehicle depth: 602.983088 # Seafloor depth: -680.242130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.376025 meters # Minimum depth: 675.276130 meters looking forward 100.000000 meters along route # Maximum depth: 678.528600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.276130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039142; longitude = -121.049279; captureRadius = 10; duration = 210; initialDepth = 595.132371; finalDepth = 600.276130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9104020000001 # Actual altitude: 77.9104020000001 # Commanded vehicle depth: 600.27613 # Seafloor depth: -678.186532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; 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 25 # Segment length 104.735530 meters # Minimum depth: 670.132371 meters looking forward 100.000000 meters along route # Maximum depth: 675.955216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.132371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038463; longitude = -121.050078; captureRadius = 10; duration = 209; initialDepth = 590.506471; finalDepth = 595.132371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8228449999999 # Actual altitude: 80.8228449999999 # Commanded vehicle depth: 595.132371 # Seafloor depth: -675.955216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 323.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.496629 meters # Minimum depth: 665.506471 meters looking forward 100.000000 meters along route # Maximum depth: 671.907857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.506471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037789; longitude = -121.050872; captureRadius = 10; duration = 218; initialDepth = 587.990679; finalDepth = 590.506471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.401386 # Actual altitude: 81.401386 # Commanded vehicle depth: 590.506471 # Seafloor depth: -671.907857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 325.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.616402 meters # Minimum depth: 662.990679 meters looking forward 100.000000 meters along route # Maximum depth: 666.559737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.990679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037084; longitude = -121.051702; captureRadius = 10; duration = 201; initialDepth = 586.969758; finalDepth = 587.990679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.401386 # Actual altitude: 81.401386 # Commanded vehicle depth: 587.990679 # Seafloor depth: -665.294862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 325.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 112.060888 meters # Minimum depth: 661.969758 meters looking forward 100.000000 meters along route # Maximum depth: 664.029889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 586.969758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036436; longitude = -121.052464; captureRadius = 10; duration = 224; initialDepth = 587.213318; finalDepth = 586.969758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.304183 # Actual altitude: 77.304183 # Commanded vehicle depth: 586.969758 # Seafloor depth: -662.987913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 309.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.532653 meters # Minimum depth: 662.213318 meters looking forward 100.000000 meters along route # Maximum depth: 664.513874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.213318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035715; longitude = -121.053314; captureRadius = 10; duration = 203; initialDepth = 587.051119; finalDepth = 587.213318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0342300000001 # Actual altitude: 76.0342300000001 # Commanded vehicle depth: 587.213318 # Seafloor depth: -663.247548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 304.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.582642 meters # Minimum depth: 662.051119 meters looking forward 100.000000 meters along route # Maximum depth: 664.543596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.051119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035061; longitude = -121.054084; captureRadius = 10; duration = 217; initialDepth = 588.920063; finalDepth = 587.051119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.035987 # Actual altitude: 77.035987 # Commanded vehicle depth: 587.051119 # Seafloor depth: -664.087106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; 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 25 # Segment length 105.653304 meters # Minimum depth: 663.920063 meters looking forward 100.000000 meters along route # Maximum depth: 668.868161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.920063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034362; longitude = -121.054907; captureRadius = 10; duration = 211; initialDepth = 594.136763; finalDepth = 588.920063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.035987 # Actual altitude: 77.035987 # Commanded vehicle depth: 588.920063 # Seafloor depth: -663.920063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; 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 25 # Segment length 104.463468 meters # Minimum depth: 669.136763 meters looking forward 100.000000 meters along route # Maximum depth: 674.128170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.136763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033682; longitude = -121.055708; captureRadius = 10; duration = 208; initialDepth = 599.579509; finalDepth = 594.136763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 594.136763 # Seafloor depth: -669.136763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.774012 meters # Minimum depth: 674.579509 meters looking forward 100.000000 meters along route # Maximum depth: 680.379177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.579509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033010; longitude = -121.056500; captureRadius = 10; duration = 219; initialDepth = 605.959324; finalDepth = 599.579509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 599.579509 # Seafloor depth: -674.579509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344237 meters # Minimum depth: 680.959324 meters looking forward 100.000000 meters along route # Maximum depth: 689.023693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.959324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032303; longitude = -121.057332; captureRadius = 10; duration = 200; initialDepth = 614.061611; finalDepth = 605.959324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 605.959324 # Seafloor depth: -680.959324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 113.894779 meters # Minimum depth: 689.061611 meters looking forward 100.000000 meters along route # Maximum depth: 701.271237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.061611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031657; longitude = -121.058093; captureRadius = 10; duration = 227; initialDepth = 626.570943; finalDepth = 614.061611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 614.061611 # Seafloor depth: -689.061611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.232981 meters # Minimum depth: 701.570943 meters looking forward 100.000000 meters along route # Maximum depth: 716.820224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.570943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030924; longitude = -121.058956; captureRadius = 10; duration = 220; initialDepth = 644.912722; finalDepth = 626.570943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 626.570943 # Seafloor depth: -701.570943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.007571 meters # Minimum depth: 719.912722 meters looking forward 100.000000 meters along route # Maximum depth: 728.214305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.912722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030214; longitude = -121.059792; captureRadius = 10; duration = 208; initialDepth = 653.850978; finalDepth = 644.912722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0885019999999 # Actual altitude: 75.0885019999999 # Commanded vehicle depth: 644.912722 # Seafloor depth: -720.001224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 300.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.113730 meters # Minimum depth: 728.850978 meters looking forward 100.000000 meters along route # Maximum depth: 738.896733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.850978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029545; longitude = -121.060580; captureRadius = 10; duration = 212; initialDepth = 664.889289; finalDepth = 653.850978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0885019999999 # Actual altitude: 75.0885019999999 # Commanded vehicle depth: 653.850978 # Seafloor depth: -728.850978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 300.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.128356 meters # Minimum depth: 739.889289 meters looking forward 100.000000 meters along route # Maximum depth: 749.492750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.889289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028862; longitude = -121.061385; captureRadius = 10; duration = 216; initialDepth = 670.408166; finalDepth = 664.889289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 664.889289 # Seafloor depth: -739.889289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.994422 meters # Minimum depth: 745.408166 meters looking forward 100.000000 meters along route # Maximum depth: 757.429782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 670.408166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028166; longitude = -121.062204; captureRadius = 10; duration = 203; initialDepth = 682.699805; finalDepth = 670.408166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.242931 # Actual altitude: 76.242931 # Commanded vehicle depth: 670.408166 # Seafloor depth: -746.651097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.727229 meters # Minimum depth: 757.699805 meters looking forward 100.000000 meters along route # Maximum depth: 776.120434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.699805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027509; longitude = -121.062978; captureRadius = 10; duration = 205; initialDepth = 671.135883; finalDepth = 682.699805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.242931 # Actual altitude: 76.242931 # Commanded vehicle depth: 682.699805 # Seafloor depth: -757.699805 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.97; 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 24 # Segment length 149.028274 meters # Minimum depth: 746.135883 meters looking forward 100.000000 meters along route # Maximum depth: 777.004883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.135883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026848; longitude = -121.063756; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 671.984383; finalDepth = 671.135883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.869 # Actual altitude: 100 # Commanded vehicle depth: 671.135883 # Seafloor depth: -777.004883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.774904 meters # Minimum depth: 746.984383 meters looking forward 100.000000 meters along route # Maximum depth: 779.769168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.984383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027384; longitude = -121.065236; captureRadius = 10; duration = 203; initialDepth = 662.428186; finalDepth = 671.984383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 105.869 # Actual altitude: 100 # Commanded vehicle depth: 671.984383 # Seafloor depth: -746.984383 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 132.960144 meters # Minimum depth: 737.428186 meters looking forward 100.000000 meters along route # Maximum depth: 781.615885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.428186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027750; longitude = -121.066247; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 649.836358; finalDepth = 662.428186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.187699 # Actual altitude: 100 # Commanded vehicle depth: 662.428186 # Seafloor depth: -781.615885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.458746 meters # Minimum depth: 724.836358 meters looking forward 100.000000 meters along route # Maximum depth: 737.136458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 649.836358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028603; longitude = -121.065236; captureRadius = 10; duration = 220; initialDepth = 649.936519; finalDepth = 649.836358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.187699 # Actual altitude: 100 # Commanded vehicle depth: 649.836358 # Seafloor depth: -737.136458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.225958 meters # Minimum depth: 724.936519 meters looking forward 100.000000 meters along route # Maximum depth: 729.992223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 649.936519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029313; longitude = -121.064397; captureRadius = 10; duration = 206; initialDepth = 645.862844; finalDepth = 649.936519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.3000999999999 # Actual altitude: 87.3000999999999 # Commanded vehicle depth: 649.936519 # Seafloor depth: -725.340617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 349.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.423400 meters # Minimum depth: 720.862844 meters looking forward 100.000000 meters along route # Maximum depth: 725.534583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 645.862844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029975; longitude = -121.063612; captureRadius = 10; duration = 214; initialDepth = 637.275378; finalDepth = 645.862844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.8605 # Actual altitude: 78.8605 # Commanded vehicle depth: 645.862844 # Seafloor depth: -724.723344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 315.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.259772 meters # Minimum depth: 712.275378 meters looking forward 100.000000 meters along route # Maximum depth: 719.880319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 637.275378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030665; longitude = -121.062796; captureRadius = 10; duration = 212; initialDepth = 620.480082; finalDepth = 637.275378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6049409999999 # Actual altitude: 82.6049409999999 # Commanded vehicle depth: 637.275378 # Seafloor depth: -719.880319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 330.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.388097 meters # Minimum depth: 695.480082 meters looking forward 100.000000 meters along route # Maximum depth: 710.731177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 620.480082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031348; longitude = -121.061988; captureRadius = 10; duration = 208; initialDepth = 609.943712; finalDepth = 620.480082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.251095 # Actual altitude: 90.251095 # Commanded vehicle depth: 620.480082 # Seafloor depth: -710.731177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.293542 meters # Minimum depth: 684.943712 meters looking forward 100.000000 meters along route # Maximum depth: 695.496426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.943712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032018; longitude = -121.061194; captureRadius = 10; duration = 218; initialDepth = 601.231380; finalDepth = 609.943712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.251095 # Actual altitude: 90.251095 # Commanded vehicle depth: 609.943712 # Seafloor depth: -695.496426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.352839 meters # Minimum depth: 676.231380 meters looking forward 100.000000 meters along route # Maximum depth: 684.241031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.231380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032720; longitude = -121.060364; captureRadius = 10; duration = 202; initialDepth = 592.266727; finalDepth = 601.231380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.552714 # Actual altitude: 85.552714 # Commanded vehicle depth: 601.23138 # Seafloor depth: -684.191259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.22; MB_Bottom_Detect_Filter_Max_Range = 342.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 112.344128 meters # Minimum depth: 667.266727 meters looking forward 100.000000 meters along route # Maximum depth: 676.062862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.266727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033370; longitude = -121.059593; captureRadius = 10; duration = 224; initialDepth = 585.457634; finalDepth = 592.266727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.796135 # Actual altitude: 83.796135 # Commanded vehicle depth: 592.266727 # Seafloor depth: -676.062862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 335.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 112.343704 meters # Minimum depth: 660.457634 meters looking forward 100.000000 meters along route # Maximum depth: 667.263594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.457634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034092; longitude = -121.058739; captureRadius = 10; duration = 224; initialDepth = 581.848821; finalDepth = 585.457634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.796135 # Actual altitude: 83.796135 # Commanded vehicle depth: 585.457634 # Seafloor depth: -667.263594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 335.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.318014 meters # Minimum depth: 656.848821 meters looking forward 100.000000 meters along route # Maximum depth: 659.392517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.848821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.057886; captureRadius = 10; duration = 202; initialDepth = 581.513270; finalDepth = 581.848821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.80596 # Actual altitude: 81.80596 # Commanded vehicle depth: 581.848821 # Seafloor depth: -659.366981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 327.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.325291 meters # Minimum depth: 656.513270 meters looking forward 100.000000 meters along route # Maximum depth: 657.960005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.513270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035464; longitude = -121.057115; captureRadius = 10; duration = 218; initialDepth = 580.739424; finalDepth = 581.513270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.51816 # Actual altitude: 77.51816 # Commanded vehicle depth: 581.51327 # Seafloor depth: -657.658850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.351753 meters # Minimum depth: 655.739424 meters looking forward 100.000000 meters along route # Maximum depth: 658.619741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.739424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.056285; captureRadius = 10; duration = 208; initialDepth = 582.106732; finalDepth = 580.739424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.14558 # Actual altitude: 76.14558 # Commanded vehicle depth: 580.739424 # Seafloor depth: -655.739424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.290062 meters # Minimum depth: 657.106732 meters looking forward 100.000000 meters along route # Maximum depth: 657.962020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.106732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036836; longitude = -121.055491; captureRadius = 10; duration = 212; initialDepth = 583.412931; finalDepth = 582.106732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8552880000001 # Actual altitude: 75.8552880000001 # Commanded vehicle depth: 582.106732 # Seafloor depth: -657.962020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 303.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.385451 meters # Minimum depth: 658.412931 meters looking forward 100.000000 meters along route # Maximum depth: 660.502997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.412931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037518; longitude = -121.054683; captureRadius = 10; duration = 214; initialDepth = 584.675954; finalDepth = 583.412931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8552880000001 # Actual altitude: 75.8552880000001 # Commanded vehicle depth: 583.412931 # Seafloor depth: -658.412931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 303.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.254877 meters # Minimum depth: 659.675954 meters looking forward 100.000000 meters along route # Maximum depth: 661.797545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.675954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038208; longitude = -121.053867; captureRadius = 10; duration = 206; initialDepth = 585.559491; finalDepth = 584.675954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3206709999999 # Actual altitude: 76.3206709999999 # Commanded vehicle depth: 584.675954 # Seafloor depth: -660.996625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 305.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 110.419105 meters # Minimum depth: 660.559491 meters looking forward 100.000000 meters along route # Maximum depth: 662.865346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.559491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038871; longitude = -121.053082; captureRadius = 10; duration = 220; initialDepth = 585.202589; finalDepth = 585.559491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3206709999999 # Actual altitude: 76.3206709999999 # Commanded vehicle depth: 585.559491 # Seafloor depth: -660.806511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 305.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.219734 meters # Minimum depth: 660.202589 meters looking forward 100.000000 meters along route # Maximum depth: 663.212688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.202589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039580; longitude = -121.052243; captureRadius = 10; duration = 200; initialDepth = 585.204099; finalDepth = 585.202589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.45559 # Actual altitude: 77.45559 # Commanded vehicle depth: 585.202589 # Seafloor depth: -662.658179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 112.340105 meters # Minimum depth: 660.204099 meters looking forward 100.000000 meters along route # Maximum depth: 663.360262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.204099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040224; longitude = -121.051481; captureRadius = 10; duration = 224; initialDepth = 588.088362; finalDepth = 585.204099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.45559 # Actual altitude: 77.45559 # Commanded vehicle depth: 585.204099 # Seafloor depth: -660.204099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.825896 meters # Minimum depth: 663.088362 meters looking forward 100.000000 meters along route # Maximum depth: 664.676688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.088362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040945; longitude = -121.050627; captureRadius = 10; duration = 201; initialDepth = 588.143048; finalDepth = 588.088362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.400604 # Actual altitude: 76.400604 # Commanded vehicle depth: 588.088362 # Seafloor depth: -664.488966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; 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 23 # Segment length 109.810661 meters # Minimum depth: 663.143048 meters looking forward 100.000000 meters along route # Maximum depth: 664.954021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.143048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041592; longitude = -121.049861; captureRadius = 10; duration = 219; initialDepth = 589.526164; finalDepth = 588.143048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.400604 # Actual altitude: 76.400604 # Commanded vehicle depth: 588.143048 # Seafloor depth: -663.677330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; 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 23 # Segment length 103.859543 meters # Minimum depth: 664.526164 meters looking forward 100.000000 meters along route # Maximum depth: 666.174513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.526164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042298; longitude = -121.049026; captureRadius = 10; duration = 207; initialDepth = 591.908829; finalDepth = 589.526164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.754809 # Actual altitude: 75.754809 # Commanded vehicle depth: 589.526164 # Seafloor depth: -665.280973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 303.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.775526 meters # Minimum depth: 666.908829 meters looking forward 100.000000 meters along route # Maximum depth: 673.327018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.908829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042965; longitude = -121.048237; captureRadius = 10; duration = 213; initialDepth = 598.299917; finalDepth = 591.908829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.754809 # Actual altitude: 75.754809 # Commanded vehicle depth: 591.908829 # Seafloor depth: -666.908829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 303.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.893146 meters # Minimum depth: 673.299917 meters looking forward 100.000000 meters along route # Maximum depth: 682.090743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.299917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043650; longitude = -121.047425; captureRadius = 10; duration = 213; initialDepth = 607.865972; finalDepth = 598.299917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 598.299917 # Seafloor depth: -673.299917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.740435 meters # Minimum depth: 682.865972 meters looking forward 100.000000 meters along route # Maximum depth: 691.109462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 607.865972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044337; longitude = -121.046613; captureRadius = 10; duration = 207; initialDepth = 616.508462; finalDepth = 607.865972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 607.865972 # Seafloor depth: -682.865972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.926706 meters # Minimum depth: 691.508462 meters looking forward 100.000000 meters along route # Maximum depth: 696.807489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.508462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045003; longitude = -121.045824; captureRadius = 10; duration = 219; initialDepth = 621.545547; finalDepth = 616.508462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 616.508462 # Seafloor depth: -691.508462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.705386 meters # Minimum depth: 696.545547 meters looking forward 100.000000 meters along route # Maximum depth: 702.125661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 621.545547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045709; longitude = -121.044989; captureRadius = 10; duration = 201; initialDepth = 620.517612; finalDepth = 621.545547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 621.545547 # Seafloor depth: -696.545547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 112.336508 meters # Minimum depth: 695.517612 meters looking forward 100.000000 meters along route # Maximum depth: 700.942596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 620.517612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046355; longitude = -121.044223; captureRadius = 10; duration = 224; initialDepth = 609.534570; finalDepth = 620.517612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.424984 # Actual altitude: 80.424984 # Commanded vehicle depth: 620.517612 # Seafloor depth: -700.942596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 321.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.333810 meters # Minimum depth: 684.534570 meters looking forward 100.000000 meters along route # Maximum depth: 694.221922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.534570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047077; longitude = -121.043369; captureRadius = 10; duration = 200; initialDepth = 606.688928; finalDepth = 609.534570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6873519999999 # Actual altitude: 84.6873519999999 # Commanded vehicle depth: 609.53457 # Seafloor depth: -694.221922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 338.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 110.296001 meters # Minimum depth: 681.688928 meters looking forward 100.000000 meters along route # Maximum depth: 684.354385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.688928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047721; longitude = -121.042606; captureRadius = 10; duration = 220; initialDepth = 605.048768; finalDepth = 606.688928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6873519999999 # Actual altitude: 84.6873519999999 # Commanded vehicle depth: 606.688928 # Seafloor depth: -684.354385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 338.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.367363 meters # Minimum depth: 680.048768 meters looking forward 100.000000 meters along route # Maximum depth: 682.162117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.048768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048429; longitude = -121.041768; captureRadius = 10; duration = 206; initialDepth = 606.742253; finalDepth = 605.048768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6654569999999 # Actual altitude: 77.6654569999999 # Commanded vehicle depth: 605.048768 # Seafloor depth: -681.013893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 310.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.260960 meters # Minimum depth: 681.742253 meters looking forward 100.000000 meters along route # Maximum depth: 685.931545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.742253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049093; longitude = -121.040982; captureRadius = 10; duration = 214; initialDepth = 610.499242; finalDepth = 606.742253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9651250000001 # Actual altitude: 75.9651250000001 # Commanded vehicle depth: 606.742253 # Seafloor depth: -681.765505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 303.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.400872 meters # Minimum depth: 685.499242 meters looking forward 100.000000 meters along route # Maximum depth: 693.656615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.499242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049782; longitude = -121.040167; captureRadius = 10; duration = 212; initialDepth = 618.606338; finalDepth = 610.499242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.023252 # Actual altitude: 75.023252 # Commanded vehicle depth: 610.499242 # Seafloor depth: -685.499242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; 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 23 # Segment length 104.225963 meters # Minimum depth: 693.606338 meters looking forward 100.000000 meters along route # Maximum depth: 700.839247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 618.606338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050465; longitude = -121.039358; captureRadius = 10; duration = 208; initialDepth = 626.012245; finalDepth = 618.606338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 618.606338 # Seafloor depth: -693.606338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.434339 meters # Minimum depth: 701.012245 meters looking forward 100.000000 meters along route # Maximum depth: 730.489031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.012245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051135; longitude = -121.038566; captureRadius = 10; duration = 218; initialDepth = 657.292259; finalDepth = 626.012245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 626.012245 # Seafloor depth: -701.012245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.191008 meters # Minimum depth: 732.292259 meters looking forward 100.000000 meters along route # Maximum depth: 749.600638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 657.292259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051837; longitude = -121.037734; captureRadius = 10; duration = 202; initialDepth = 674.917815; finalDepth = 657.292259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 657.292259 # Seafloor depth: -732.292259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.971850 meters # Minimum depth: 749.917815 meters looking forward 100.000000 meters along route # Maximum depth: 776.109671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 674.917815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052487; longitude = -121.036965; captureRadius = 10; duration = 205; initialDepth = 702.307536; finalDepth = 674.917815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 674.917815 # Seafloor depth: -749.917815 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 22 # Segment length 134.133720 meters # Minimum depth: 777.307536 meters looking forward 100.000000 meters along route # Maximum depth: 784.436906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 702.307536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053148; longitude = -121.036182; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 691.532594; finalDepth = 702.307536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 702.307536 # Seafloor depth: -777.307536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.424729 meters # Minimum depth: 766.532594 meters looking forward 100.000000 meters along route # Maximum depth: 782.640627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 691.532594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054291; longitude = -121.036659; captureRadius = 10; duration = 218; initialDepth = 664.132433; finalDepth = 691.532594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 91.108033 # Actual altitude: 91.108033 # Commanded vehicle depth: 691.532594 # Seafloor depth: -782.640627 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 145.150382 meters # Minimum depth: 739.132433 meters looking forward 100.000000 meters along route # Maximum depth: 765.646484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.132433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055222; longitude = -121.037048; captureRadius = 10; duration = 290; # abortOnTimeout = True; initialDepth = 633.712993; finalDepth = 664.132433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.514051 # Actual altitude: 100 # Commanded vehicle depth: 664.132433 # Seafloor depth: -765.646484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.644486 meters # Minimum depth: 708.712993 meters looking forward 100.000000 meters along route # Maximum depth: 735.924812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 633.712993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054291; longitude = -121.038152; captureRadius = 10; duration = 203; initialDepth = 608.437353; finalDepth = 633.712993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.211819 # Actual altitude: 100 # Commanded vehicle depth: 633.712993 # Seafloor depth: -735.924812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.058939 meters # Minimum depth: 683.437353 meters looking forward 100.000000 meters along route # Maximum depth: 707.047729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.437353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053638; longitude = -121.038925; captureRadius = 10; duration = 218; initialDepth = 596.701586; finalDepth = 608.437353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.211819 # Actual altitude: 100 # Commanded vehicle depth: 608.437353 # Seafloor depth: -707.047729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.515192 meters # Minimum depth: 671.701586 meters looking forward 100.000000 meters along route # Maximum depth: 681.306751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.701586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052938; longitude = -121.039754; captureRadius = 10; duration = 209; initialDepth = 592.550676; finalDepth = 596.701586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.610376 # Actual altitude: 98.610376 # Commanded vehicle depth: 596.701586 # Seafloor depth: -681.306751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.189723 meters # Minimum depth: 667.550676 meters looking forward 100.000000 meters along route # Maximum depth: 671.135022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.550676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052267; longitude = -121.040549; captureRadius = 10; duration = 212; initialDepth = 592.119315; finalDepth = 592.550676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6051649999999 # Actual altitude: 84.6051649999999 # Commanded vehicle depth: 592.550676 # Seafloor depth: -670.033042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 338.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.385939 meters # Minimum depth: 667.119315 meters looking forward 100.000000 meters along route # Maximum depth: 669.824469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.119315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051585; longitude = -121.041357; captureRadius = 10; duration = 214; initialDepth = 590.980591; finalDepth = 592.119315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.545497 # Actual altitude: 77.545497 # Commanded vehicle depth: 592.119315 # Seafloor depth: -669.664812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.320466 meters # Minimum depth: 665.980591 meters looking forward 100.000000 meters along route # Maximum depth: 668.159272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.980591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050896; longitude = -121.042173; captureRadius = 10; duration = 206; initialDepth = 590.996105; finalDepth = 590.980591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.545497 # Actual altitude: 77.545497 # Commanded vehicle depth: 590.980591 # Seafloor depth: -668.159272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 110.256726 meters # Minimum depth: 665.996105 meters looking forward 100.000000 meters along route # Maximum depth: 669.992170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.996105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050233; longitude = -121.042959; captureRadius = 10; duration = 220; initialDepth = 594.499991; finalDepth = 590.996105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.178681 # Actual altitude: 77.178681 # Commanded vehicle depth: 590.996105 # Seafloor depth: -665.996105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 308.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.451169 meters # Minimum depth: 669.499991 meters looking forward 100.000000 meters along route # Maximum depth: 675.717893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.499991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049525; longitude = -121.043798; captureRadius = 10; duration = 200; initialDepth = 600.884269; finalDepth = 594.499991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.035804 # Actual altitude: 75.035804 # Commanded vehicle depth: 594.499991 # Seafloor depth: -669.535795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 113.127555 meters # Minimum depth: 675.884269 meters looking forward 100.000000 meters along route # Maximum depth: 679.997156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.884269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048880; longitude = -121.044561; captureRadius = 10; duration = 226; initialDepth = 601.099676; finalDepth = 600.884269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.035804 # Actual altitude: 75.035804 # Commanded vehicle depth: 600.884269 # Seafloor depth: -675.884269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 111.629175 meters # Minimum depth: 676.099676 meters looking forward 100.000000 meters along route # Maximum depth: 679.577585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.099676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048154; longitude = -121.045422; captureRadius = 10; duration = 223; initialDepth = 596.619650; finalDepth = 601.099676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.477909 # Actual altitude: 78.477909 # Commanded vehicle depth: 601.099676 # Seafloor depth: -679.577585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 313.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.951079 meters # Minimum depth: 671.619650 meters looking forward 100.000000 meters along route # Maximum depth: 675.572669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.619650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047437; longitude = -121.046271; captureRadius = 10; duration = 203; initialDepth = 593.510413; finalDepth = 596.619650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.953019 # Actual altitude: 78.953019 # Commanded vehicle depth: 596.61965 # Seafloor depth: -675.572669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 315.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 108.759895 meters # Minimum depth: 668.510413 meters looking forward 100.000000 meters along route # Maximum depth: 671.537541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.510413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046783; longitude = -121.047046; captureRadius = 10; duration = 217; initialDepth = 584.202124; finalDepth = 593.510413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.953019 # Actual altitude: 78.953019 # Commanded vehicle depth: 593.510413 # Seafloor depth: -671.537541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 315.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.821890 meters # Minimum depth: 659.202124 meters looking forward 100.000000 meters along route # Maximum depth: 667.432267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.202124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046085; longitude = -121.047873; captureRadius = 10; duration = 209; initialDepth = 580.865396; finalDepth = 584.202124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.230143 # Actual altitude: 83.230143 # Commanded vehicle depth: 584.202124 # Seafloor depth: -667.432267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.890574 meters # Minimum depth: 655.865396 meters looking forward 100.000000 meters along route # Maximum depth: 658.904834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.865396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045412; longitude = -121.048670; captureRadius = 10; duration = 211; initialDepth = 579.763617; finalDepth = 580.865396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.230143 # Actual altitude: 83.230143 # Commanded vehicle depth: 580.865396 # Seafloor depth: -658.904834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.692742 meters # Minimum depth: 654.763617 meters looking forward 100.000000 meters along route # Maximum depth: 656.961031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.763617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044732; longitude = -121.049475; captureRadius = 10; duration = 215; initialDepth = 577.480114; finalDepth = 579.763617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.039438 # Actual altitude: 78.039438 # Commanded vehicle depth: 579.763617 # Seafloor depth: -656.961031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 312.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.021212 meters # Minimum depth: 652.480114 meters looking forward 100.000000 meters along route # Maximum depth: 656.830709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.480114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044041; longitude = -121.050294; captureRadius = 10; duration = 206; initialDepth = 577.971109; finalDepth = 577.480114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1488380000001 # Actual altitude: 79.1488380000001 # Commanded vehicle depth: 577.480114 # Seafloor depth: -656.628952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 316.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 110.563635 meters # Minimum depth: 652.971109 meters looking forward 100.000000 meters along route # Maximum depth: 656.924303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.971109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043380; longitude = -121.051077; captureRadius = 10; duration = 221; initialDepth = 580.860332; finalDepth = 577.971109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1488380000001 # Actual altitude: 79.1488380000001 # Commanded vehicle depth: 577.971109 # Seafloor depth: -652.971109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 316.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.151809 meters # Minimum depth: 655.860332 meters looking forward 100.000000 meters along route # Maximum depth: 657.656402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.860332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042670; longitude = -121.051918; captureRadius = 10; duration = 200; initialDepth = 582.411632; finalDepth = 580.860332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.055479 # Actual altitude: 75.055479 # Commanded vehicle depth: 580.860332 # Seafloor depth: -655.915811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 112.382180 meters # Minimum depth: 657.411632 meters looking forward 100.000000 meters along route # Maximum depth: 658.805833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.411632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042027; longitude = -121.052680; captureRadius = 10; duration = 224; initialDepth = 581.742543; finalDepth = 582.411632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2635379999999 # Actual altitude: 75.2635379999999 # Commanded vehicle depth: 582.411632 # Seafloor depth: -657.675170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 301.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.726556 meters # Minimum depth: 656.742543 meters looking forward 100.000000 meters along route # Maximum depth: 658.483723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.742543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041306; longitude = -121.053534; captureRadius = 10; duration = 201; initialDepth = 580.267325; finalDepth = 581.742543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.705505 # Actual altitude: 76.705505 # Commanded vehicle depth: 581.742543 # Seafloor depth: -658.448048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 306.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.991173 meters # Minimum depth: 655.267325 meters looking forward 100.000000 meters along route # Maximum depth: 657.785841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.267325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040659; longitude = -121.054300; captureRadius = 10; duration = 219; initialDepth = 578.752447; finalDepth = 580.267325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.705505 # Actual altitude: 76.705505 # Commanded vehicle depth: 580.267325 # Seafloor depth: -656.748692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 306.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.597451 meters # Minimum depth: 653.752447 meters looking forward 100.000000 meters along route # Maximum depth: 655.384404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 578.752447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039953; longitude = -121.055137; captureRadius = 10; duration = 207; initialDepth = 578.460289; finalDepth = 578.752447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6319570000001 # Actual altitude: 76.6319570000001 # Commanded vehicle depth: 578.752447 # Seafloor depth: -655.384404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.121769 meters # Minimum depth: 653.460289 meters looking forward 100.000000 meters along route # Maximum depth: 654.753124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 578.460289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039288; longitude = -121.055924; captureRadius = 10; duration = 214; initialDepth = 575.468558; finalDepth = 578.460289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6319570000001 # Actual altitude: 76.6319570000001 # Commanded vehicle depth: 578.460289 # Seafloor depth: -654.753124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.468386 meters # Minimum depth: 650.468558 meters looking forward 100.000000 meters along route # Maximum depth: 653.975254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.468558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038601; longitude = -121.056739; captureRadius = 10; duration = 212; initialDepth = 577.610379; finalDepth = 575.468558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7873059999999 # Actual altitude: 77.7873059999999 # Commanded vehicle depth: 575.468558 # Seafloor depth: -653.255864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.252324 meters # Minimum depth: 652.610379 meters looking forward 100.000000 meters along route # Maximum depth: 655.428618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.610379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037917; longitude = -121.057549; captureRadius = 10; duration = 208; initialDepth = 576.765151; finalDepth = 577.610379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7873059999999 # Actual altitude: 77.7873059999999 # Commanded vehicle depth: 577.610379 # Seafloor depth: -652.633208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.339362 meters # Minimum depth: 651.765151 meters looking forward 100.000000 meters along route # Maximum depth: 653.361076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.765151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037248; longitude = -121.058341; captureRadius = 10; duration = 218; initialDepth = 576.475051; finalDepth = 576.765151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5959250000001 # Actual altitude: 76.5959250000001 # Commanded vehicle depth: 576.765151 # Seafloor depth: -653.361076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 306.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.382838 meters # Minimum depth: 651.475051 meters looking forward 100.000000 meters along route # Maximum depth: 656.600661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.475051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036546; longitude = -121.059173; captureRadius = 10; duration = 202; initialDepth = 581.324205; finalDepth = 576.475051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5959250000001 # Actual altitude: 76.5959250000001 # Commanded vehicle depth: 576.475051 # Seafloor depth: -651.694507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 306.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 112.385783 meters # Minimum depth: 656.324205 meters looking forward 100.000000 meters along route # Maximum depth: 664.872843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.324205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035895; longitude = -121.059944; captureRadius = 10; duration = 224; initialDepth = 589.878477; finalDepth = 581.324205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.219456 # Actual altitude: 75.219456 # Commanded vehicle depth: 581.324205 # Seafloor depth: -656.426439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 112.386207 meters # Minimum depth: 664.878477 meters looking forward 100.000000 meters along route # Maximum depth: 671.709060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.878477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035174; longitude = -121.060798; captureRadius = 10; duration = 224; initialDepth = 596.327429; finalDepth = 589.878477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.102234 # Actual altitude: 75.102234 # Commanded vehicle depth: 589.878477 # Seafloor depth: -664.878477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 300.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.033139 meters # Minimum depth: 671.327429 meters looking forward 100.000000 meters along route # Maximum depth: 678.417103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.327429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034453; longitude = -121.061653; captureRadius = 10; duration = 202; initialDepth = 603.609361; finalDepth = 596.327429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0025459999999 # Actual altitude: 75.0025459999999 # Commanded vehicle depth: 596.327429 # Seafloor depth: -671.329975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.692142 meters # Minimum depth: 678.609361 meters looking forward 100.000000 meters along route # Maximum depth: 686.948464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 603.609361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033804; longitude = -121.062421; captureRadius = 10; duration = 219; initialDepth = 612.909329; finalDepth = 603.609361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0025459999999 # Actual altitude: 75.0025459999999 # Commanded vehicle depth: 603.609361 # Seafloor depth: -678.609361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.904138 meters # Minimum depth: 687.909329 meters looking forward 100.000000 meters along route # Maximum depth: 696.178280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 612.909329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033100; longitude = -121.063255; captureRadius = 10; duration = 207; initialDepth = 618.644740; finalDepth = 612.909329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 612.909329 # Seafloor depth: -687.909329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.822634 meters # Minimum depth: 693.644740 meters looking forward 100.000000 meters along route # Maximum depth: 696.611149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 618.644740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032433; longitude = -121.064045; captureRadius = 10; duration = 213; initialDepth = 608.169694; finalDepth = 618.644740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.589969 # Actual altitude: 77.589969 # Commanded vehicle depth: 618.64474 # Seafloor depth: -696.234709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; 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 21 # Segment length 106.775178 meters # Minimum depth: 683.169694 meters looking forward 100.000000 meters along route # Maximum depth: 692.790786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.169694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031747; longitude = -121.064857; captureRadius = 10; duration = 213; initialDepth = 611.557554; finalDepth = 608.169694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.621092 # Actual altitude: 84.621092 # Commanded vehicle depth: 608.169694 # Seafloor depth: -692.790786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.85; MB_Bottom_Detect_Filter_Max_Range = 338.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.953084 meters # Minimum depth: 686.557554 meters looking forward 100.000000 meters along route # Maximum depth: 708.405623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 611.557554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031062; longitude = -121.065669; captureRadius = 10; duration = 207; initialDepth = 634.774866; finalDepth = 611.557554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.621092 # Actual altitude: 84.621092 # Commanded vehicle depth: 611.557554 # Seafloor depth: -686.557554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.85; MB_Bottom_Detect_Filter_Max_Range = 338.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.646260 meters # Minimum depth: 709.774866 meters looking forward 100.000000 meters along route # Maximum depth: 735.052576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 634.774866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030395; longitude = -121.066460; captureRadius = 10; duration = 219; initialDepth = 662.049016; finalDepth = 634.774866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 634.774866 # Seafloor depth: -709.774866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.083493 meters # Minimum depth: 737.049016 meters looking forward 100.000000 meters along route # Maximum depth: 752.396966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.049016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029691; longitude = -121.067293; captureRadius = 10; duration = 202; initialDepth = 677.817290; finalDepth = 662.049016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 662.049016 # Seafloor depth: -737.049016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.023977 meters # Minimum depth: 752.817290 meters looking forward 100.000000 meters along route # Maximum depth: 774.836749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 677.817290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029042; longitude = -121.068062; captureRadius = 10; duration = 206; initialDepth = 701.427572; finalDepth = 677.817290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 677.81729 # Seafloor depth: -752.817290 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 20 # Segment length 147.313175 meters # Minimum depth: 776.427572 meters looking forward 100.000000 meters along route # Maximum depth: 782.227853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 701.427572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028381; longitude = -121.068845; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 701.376221; finalDepth = 701.427572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 701.427572 # Seafloor depth: -776.427572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.440868 meters # Minimum depth: 776.376221 meters looking forward 100.000000 meters along route # Maximum depth: 779.773132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 701.376221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028256; longitude = -121.070433; captureRadius = 10; duration = 200; initialDepth = 695.756616; finalDepth = 701.376221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.523723 # Actual altitude: 77.523723 # Commanded vehicle depth: 701.376221 # Seafloor depth: -778.899944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.136988 meters # Minimum depth: 770.756616 meters looking forward 100.000000 meters along route # Maximum depth: 775.710251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 695.756616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028171; longitude = -121.071516; captureRadius = 10; duration = 214; initialDepth = 683.410042; finalDepth = 695.756616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.792985 # Actual altitude: 79.792985 # Commanded vehicle depth: 695.756616 # Seafloor depth: -775.549601 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 319.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 94.858790 meters # Minimum depth: 758.410042 meters looking forward 100.000000 meters along route # Maximum depth: 772.648275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 683.410042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028080; longitude = -121.072671; captureRadius = 10; duration = 189; # abortOnTimeout = True; initialDepth = 669.163116; finalDepth = 683.410042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.238233 # Actual altitude: 89.238233 # Commanded vehicle depth: 683.410042 # Seafloor depth: -772.648275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; 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 111.347797 meters # Minimum depth: 744.163116 meters looking forward 100.000000 meters along route # Maximum depth: 759.429370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 669.163116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028689; longitude = -121.071949; captureRadius = 10; duration = 222; initialDepth = 651.423488; finalDepth = 669.163116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2566790000001 # Actual altitude: 89.2566790000001 # Commanded vehicle depth: 669.163116 # Seafloor depth: -758.419795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; 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 102.083375 meters # Minimum depth: 726.423488 meters looking forward 100.000000 meters along route # Maximum depth: 742.070321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 651.423488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029403; longitude = -121.071102; captureRadius = 10; duration = 204; initialDepth = 627.572853; finalDepth = 651.423488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.646833 # Actual altitude: 90.646833 # Commanded vehicle depth: 651.423488 # Seafloor depth: -742.070321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.808247 meters # Minimum depth: 702.572853 meters looking forward 100.000000 meters along route # Maximum depth: 725.260202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 627.572853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030058; longitude = -121.070325; captureRadius = 10; duration = 217; initialDepth = 613.797995; finalDepth = 627.572853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.687349 # Actual altitude: 97.687349 # Commanded vehicle depth: 627.572853 # Seafloor depth: -725.260202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; 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 104.621394 meters # Minimum depth: 688.797995 meters looking forward 100.000000 meters along route # Maximum depth: 701.393845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 613.797995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030755; longitude = -121.069497; captureRadius = 10; duration = 209; initialDepth = 614.887390; finalDepth = 613.797995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.687349 # Actual altitude: 97.687349 # Commanded vehicle depth: 613.797995 # Seafloor depth: -701.393845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; 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 106.268734 meters # Minimum depth: 689.887390 meters looking forward 100.000000 meters along route # Maximum depth: 692.056470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.887390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031426; longitude = -121.068701; captureRadius = 10; duration = 212; initialDepth = 612.532597; finalDepth = 614.887390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.59585 # Actual altitude: 87.59585 # Commanded vehicle depth: 614.88739 # Seafloor depth: -689.887390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.04; 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 107.159377 meters # Minimum depth: 687.532597 meters looking forward 100.000000 meters along route # Maximum depth: 691.535002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 612.532597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032108; longitude = -121.067892; captureRadius = 10; duration = 214; initialDepth = 609.711243; finalDepth = 612.532597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.002405 # Actual altitude: 79.002405 # Commanded vehicle depth: 612.532597 # Seafloor depth: -691.535002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 316.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.729257 meters # Minimum depth: 684.711243 meters looking forward 100.000000 meters along route # Maximum depth: 686.551775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 609.711243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032795; longitude = -121.067077; captureRadius = 10; duration = 207; initialDepth = 605.148502; finalDepth = 609.711243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.002405 # Actual altitude: 79.002405 # Commanded vehicle depth: 609.711243 # Seafloor depth: -686.551775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 316.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.697322 meters # Minimum depth: 680.148502 meters looking forward 100.000000 meters along route # Maximum depth: 684.580762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.148502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.066288; captureRadius = 10; duration = 219; initialDepth = 594.485799; finalDepth = 605.148502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.43226 # Actual altitude: 79.43226 # Commanded vehicle depth: 605.148502 # Seafloor depth: -684.580762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.189816 meters # Minimum depth: 669.485799 meters looking forward 100.000000 meters along route # Maximum depth: 678.243917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.485799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034164; longitude = -121.065453; captureRadius = 10; duration = 202; initialDepth = 590.446117; finalDepth = 594.485799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.758118 # Actual altitude: 83.758118 # Commanded vehicle depth: 594.485799 # Seafloor depth: -678.243917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 335.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.472530 meters # Minimum depth: 665.446117 meters looking forward 100.000000 meters along route # Maximum depth: 669.510069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.446117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.064683; captureRadius = 10; duration = 224; initialDepth = 584.008591; finalDepth = 590.446117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.758118 # Actual altitude: 83.758118 # Commanded vehicle depth: 590.446117 # Seafloor depth: -669.463167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 335.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 113.588771 meters # Minimum depth: 659.008591 meters looking forward 100.000000 meters along route # Maximum depth: 665.449668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.008591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035535; longitude = -121.063827; captureRadius = 10; duration = 227; initialDepth = 581.924077; finalDepth = 584.008591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.441077 # Actual altitude: 81.441077 # Commanded vehicle depth: 584.008591 # Seafloor depth: -665.449668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 325.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 111.355013 meters # Minimum depth: 656.924077 meters looking forward 100.000000 meters along route # Maximum depth: 659.260491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.924077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036263; longitude = -121.062962; captureRadius = 10; duration = 222; initialDepth = 575.886035; finalDepth = 581.924077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.441077 # Actual altitude: 81.441077 # Commanded vehicle depth: 581.924077 # Seafloor depth: -658.952347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 325.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.067689 meters # Minimum depth: 650.886035 meters looking forward 100.000000 meters along route # Maximum depth: 656.256966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.886035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036977; longitude = -121.062115; captureRadius = 10; duration = 204; initialDepth = 574.191121; finalDepth = 575.886035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.370931 # Actual altitude: 80.370931 # Commanded vehicle depth: 575.886035 # Seafloor depth: -656.256966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; 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 19 # Segment length 108.815565 meters # Minimum depth: 649.191121 meters looking forward 100.000000 meters along route # Maximum depth: 653.122236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.191121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037632; longitude = -121.061338; captureRadius = 10; duration = 217; initialDepth = 574.213510; finalDepth = 574.191121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.370931 # Actual altitude: 80.370931 # Commanded vehicle depth: 574.191121 # Seafloor depth: -653.122236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; 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 19 # Segment length 104.605607 meters # Minimum depth: 649.213510 meters looking forward 100.000000 meters along route # Maximum depth: 650.002400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.213510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038330; longitude = -121.060510; captureRadius = 10; duration = 209; initialDepth = 571.738496; finalDepth = 574.213510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9311150000001 # Actual altitude: 78.9311150000001 # Commanded vehicle depth: 574.21351 # Seafloor depth: -649.419165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 315.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.276152 meters # Minimum depth: 646.738496 meters looking forward 100.000000 meters along route # Maximum depth: 650.146175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.738496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039001; longitude = -121.059714; captureRadius = 10; duration = 212; initialDepth = 570.746288; finalDepth = 571.738496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.20048 # Actual altitude: 78.20048 # Commanded vehicle depth: 571.738496 # Seafloor depth: -649.938976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 312.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.143489 meters # Minimum depth: 645.746288 meters looking forward 100.000000 meters along route # Maximum depth: 647.981856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 570.746288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039683; longitude = -121.058905; captureRadius = 10; duration = 214; initialDepth = 570.681985; finalDepth = 570.746288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.20048 # Actual altitude: 78.20048 # Commanded vehicle depth: 570.746288 # Seafloor depth: -647.981856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 312.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.736777 meters # Minimum depth: 645.681985 meters looking forward 100.000000 meters along route # Maximum depth: 650.642218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 570.681985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040370; longitude = -121.058090; captureRadius = 10; duration = 207; initialDepth = 575.839617; finalDepth = 570.681985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2355679999999 # Actual altitude: 77.2355679999999 # Commanded vehicle depth: 570.681985 # Seafloor depth: -645.681985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 308.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.681335 meters # Minimum depth: 650.839617 meters looking forward 100.000000 meters along route # Maximum depth: 652.989664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.839617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041035; longitude = -121.057301; captureRadius = 10; duration = 219; initialDepth = 576.141835; finalDepth = 575.839617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 575.839617 # Seafloor depth: -650.839617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.197436 meters # Minimum depth: 651.141835 meters looking forward 100.000000 meters along route # Maximum depth: 654.757951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.141835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041739; longitude = -121.056466; captureRadius = 10; duration = 202; initialDepth = 578.611480; finalDepth = 576.141835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0200149999999 # Actual altitude: 75.0200149999999 # Commanded vehicle depth: 576.141835 # Seafloor depth: -651.161850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.468067 meters # Minimum depth: 653.611480 meters looking forward 100.000000 meters along route # Maximum depth: 655.252692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 578.611480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042388; longitude = -121.055696; captureRadius = 10; duration = 224; initialDepth = 579.808606; finalDepth = 578.611480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.82521 # Actual altitude: 75.82521 # Commanded vehicle depth: 578.61148 # Seafloor depth: -654.436690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 113.572629 meters # Minimum depth: 654.808606 meters looking forward 100.000000 meters along route # Maximum depth: 655.881738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.808606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043109; longitude = -121.054840; captureRadius = 10; duration = 227; initialDepth = 577.472373; finalDepth = 579.808606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.82521 # Actual altitude: 75.82521 # Commanded vehicle depth: 579.808606 # Seafloor depth: -655.055591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 111.362230 meters # Minimum depth: 652.472373 meters looking forward 100.000000 meters along route # Maximum depth: 654.915632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.472373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043838; longitude = -121.053975; captureRadius = 10; duration = 222; initialDepth = 575.095798; finalDepth = 577.472373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.443259 # Actual altitude: 77.443259 # Commanded vehicle depth: 577.472373 # Seafloor depth: -654.915632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.052004 meters # Minimum depth: 650.095798 meters looking forward 100.000000 meters along route # Maximum depth: 652.663891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.095798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044552; longitude = -121.053128; captureRadius = 10; duration = 204; initialDepth = 572.697710; finalDepth = 575.095798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5680930000001 # Actual altitude: 77.5680930000001 # Commanded vehicle depth: 575.095798 # Seafloor depth: -652.663891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 310.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.822883 meters # Minimum depth: 647.697710 meters looking forward 100.000000 meters along route # Maximum depth: 649.995328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.697710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045207; longitude = -121.052351; captureRadius = 10; duration = 217; initialDepth = 573.990339; finalDepth = 572.697710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5680930000001 # Actual altitude: 77.5680930000001 # Commanded vehicle depth: 572.69771 # Seafloor depth: -649.995328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 310.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.589822 meters # Minimum depth: 648.990339 meters looking forward 100.000000 meters along route # Maximum depth: 651.573536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.990339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045905; longitude = -121.051523; captureRadius = 10; duration = 209; initialDepth = 576.057418; finalDepth = 573.990339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2976179999999 # Actual altitude: 77.2976179999999 # Commanded vehicle depth: 573.990339 # Seafloor depth: -648.990339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.283571 meters # Minimum depth: 651.057418 meters looking forward 100.000000 meters along route # Maximum depth: 651.788938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.057418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046575; longitude = -121.050727; captureRadius = 10; duration = 212; initialDepth = 576.890460; finalDepth = 576.057418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.574684 # Actual altitude: 75.574684 # Commanded vehicle depth: 576.057418 # Seafloor depth: -651.632102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 19 # Segment length 107.127604 meters # Minimum depth: 651.890460 meters looking forward 100.000000 meters along route # Maximum depth: 654.761485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.890460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047257; longitude = -121.049918; captureRadius = 10; duration = 214; initialDepth = 580.026312; finalDepth = 576.890460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.574684 # Actual altitude: 75.574684 # Commanded vehicle depth: 576.89046 # Seafloor depth: -651.890460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 19 # Segment length 103.744295 meters # Minimum depth: 655.026312 meters looking forward 100.000000 meters along route # Maximum depth: 656.940816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.026312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047944; longitude = -121.049103; captureRadius = 10; duration = 207; initialDepth = 582.157042; finalDepth = 580.026312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 580.026312 # Seafloor depth: -655.026312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.665349 meters # Minimum depth: 657.157042 meters looking forward 100.000000 meters along route # Maximum depth: 658.247971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.157042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048610; longitude = -121.048314; captureRadius = 10; duration = 219; initialDepth = 581.485158; finalDepth = 582.157042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 582.157042 # Seafloor depth: -657.157042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.205057 meters # Minimum depth: 656.485158 meters looking forward 100.000000 meters along route # Maximum depth: 662.436699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.485158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049313; longitude = -121.047479; captureRadius = 10; duration = 202; initialDepth = 587.430765; finalDepth = 581.485158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.360392 # Actual altitude: 76.360392 # Commanded vehicle depth: 581.485158 # Seafloor depth: -657.845550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 305.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.463605 meters # Minimum depth: 662.430765 meters looking forward 100.000000 meters along route # Maximum depth: 666.400751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.430765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049962; longitude = -121.046709; captureRadius = 10; duration = 224; initialDepth = 591.207968; finalDepth = 587.430765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.360392 # Actual altitude: 76.360392 # Commanded vehicle depth: 587.430765 # Seafloor depth: -662.430765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 305.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.463180 meters # Minimum depth: 666.207968 meters looking forward 100.000000 meters along route # Maximum depth: 667.391227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.207968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050684; longitude = -121.045853; captureRadius = 10; duration = 224; initialDepth = 592.768853; finalDepth = 591.207968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0464659999999 # Actual altitude: 75.0464659999999 # Commanded vehicle depth: 591.207968 # Seafloor depth: -666.254434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.682858 meters # Minimum depth: 667.768853 meters looking forward 100.000000 meters along route # Maximum depth: 668.286905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.768853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051405; longitude = -121.044997; captureRadius = 10; duration = 201; initialDepth = 592.956408; finalDepth = 592.768853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0464659999999 # Actual altitude: 75.0464659999999 # Commanded vehicle depth: 592.768853 # Seafloor depth: -667.768853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 110.184461 meters # Minimum depth: 667.956408 meters looking forward 100.000000 meters along route # Maximum depth: 669.381184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.956408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052051; longitude = -121.044231; captureRadius = 10; duration = 220; initialDepth = 590.976844; finalDepth = 592.956408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 592.956408 # Seafloor depth: -667.956408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.220594 meters # Minimum depth: 665.976844 meters looking forward 100.000000 meters along route # Maximum depth: 668.691773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.976844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052758; longitude = -121.043392; captureRadius = 10; duration = 206; initialDepth = 592.472259; finalDepth = 590.976844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.706972 # Actual altitude: 77.706972 # Commanded vehicle depth: 590.976844 # Seafloor depth: -668.683816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 310.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.645231 meters # Minimum depth: 667.472259 meters looking forward 100.000000 meters along route # Maximum depth: 671.087547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.472259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053420; longitude = -121.042606; captureRadius = 10; duration = 215; initialDepth = 594.909481; finalDepth = 592.472259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.706972 # Actual altitude: 77.706972 # Commanded vehicle depth: 592.472259 # Seafloor depth: -667.472259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 310.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.758294 meters # Minimum depth: 669.909481 meters looking forward 100.000000 meters along route # Maximum depth: 671.710245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.909481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054110; longitude = -121.041787; captureRadius = 10; duration = 211; initialDepth = 596.578622; finalDepth = 594.909481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2875849999999 # Actual altitude: 76.2875849999999 # Commanded vehicle depth: 594.909481 # Seafloor depth: -671.197066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 305.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.106037 meters # Minimum depth: 671.578622 meters looking forward 100.000000 meters along route # Maximum depth: 678.249680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.578622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054789; longitude = -121.040982; captureRadius = 10; duration = 210; initialDepth = 603.380759; finalDepth = 596.578622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2875849999999 # Actual altitude: 76.2875849999999 # Commanded vehicle depth: 596.578622 # Seafloor depth: -672.060973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 305.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.295959 meters # Minimum depth: 678.380759 meters looking forward 100.000000 meters along route # Maximum depth: 687.725273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 603.380759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055463; longitude = -121.040182; captureRadius = 10; duration = 216; initialDepth = 611.734771; finalDepth = 603.380759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.482351 # Actual altitude: 75.482351 # Commanded vehicle depth: 603.380759 # Seafloor depth: -678.380759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 301.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.566879 meters # Minimum depth: 686.734771 meters looking forward 100.000000 meters along route # Maximum depth: 703.130092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 611.734771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056158; longitude = -121.039358; captureRadius = 10; duration = 205; initialDepth = 629.016510; finalDepth = 611.734771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5748619999999 # Actual altitude: 75.5748619999999 # Commanded vehicle depth: 611.734771 # Seafloor depth: -687.309633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 19 # Segment length 110.833587 meters # Minimum depth: 704.016510 meters looking forward 100.000000 meters along route # Maximum depth: 734.318641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 629.016510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056815; longitude = -121.038578; captureRadius = 10; duration = 221; initialDepth = 657.852514; finalDepth = 629.016510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5748619999999 # Actual altitude: 75.5748619999999 # Commanded vehicle depth: 629.01651 # Seafloor depth: -704.016510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; 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 19 # Segment length 100.027757 meters # Minimum depth: 732.852514 meters looking forward 100.000000 meters along route # Maximum depth: 745.857015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 657.852514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057526; longitude = -121.037734; captureRadius = 10; duration = 200; initialDepth = 670.838269; finalDepth = 657.852514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0281 # Actual altitude: 76.0281 # Commanded vehicle depth: 657.852514 # Seafloor depth: -733.880614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 304.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.458773 meters # Minimum depth: 745.838269 meters looking forward 100.000000 meters along route # Maximum depth: 775.429243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 670.838269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058168; longitude = -121.036973; captureRadius = 10; duration = 224; initialDepth = 707.816091; finalDepth = 670.838269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0281 # Actual altitude: 76.0281 # Commanded vehicle depth: 670.838269 # Seafloor depth: -745.838269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 304.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.498053 meters # Minimum depth: 782.816091 meters looking forward 100.000000 meters along route # Maximum depth: 820.562780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 707.816091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058889; longitude = -121.036117; captureRadius = 10; duration = 200; initialDepth = 746.917960; finalDepth = 707.816091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 707.816091 # Seafloor depth: -782.816091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 110.361002 meters # Minimum depth: 821.917960 meters looking forward 100.000000 meters along route # Maximum depth: 861.679005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 746.917960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059534; longitude = -121.035352; captureRadius = 10; duration = 220; initialDepth = 785.851572; finalDepth = 746.917960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 746.91796 # Seafloor depth: -821.917960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.682970 meters # Minimum depth: 860.851572 meters looking forward 100.000000 meters along route # Maximum depth: 882.451648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 785.851572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060242; longitude = -121.034512; captureRadius = 10; duration = 201; initialDepth = 774.617205; finalDepth = 785.851572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.2831249999999 # Actual altitude: 76.2831249999999 # Commanded vehicle depth: 785.851572 # Seafloor depth: -862.134697 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 305.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.13; 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 111.622960 meters # Minimum depth: 849.617205 meters looking forward 100.000000 meters along route # Maximum depth: 881.134247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 774.617205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060888; longitude = -121.033746; captureRadius = 10; duration = 223; # abortOnTimeout = True; initialDepth = 774.619991; finalDepth = 774.617205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.517042 # Actual altitude: 100 # Commanded vehicle depth: 774.617205 # Seafloor depth: -881.134247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.377040 meters # Minimum depth: 849.619991 meters looking forward 100.000000 meters along route # Maximum depth: 863.318060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 774.619991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061595; longitude = -121.034606; captureRadius = 10; duration = 216; initialDepth = 769.965854; finalDepth = 774.619991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 106.517042 # Actual altitude: 100 # Commanded vehicle depth: 774.619991 # Seafloor depth: -849.619991 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 116.256596 meters # Minimum depth: 844.965854 meters looking forward 100.000000 meters along route # Maximum depth: 863.918198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 769.965854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062281; longitude = -121.035442; captureRadius = 10; duration = 232; # abortOnTimeout = True; initialDepth = 744.407718; finalDepth = 769.965854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.9523439999999 # Actual altitude: 93.9523439999999 # Commanded vehicle depth: 769.965854 # Seafloor depth: -863.918198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; 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 17 # Segment length 103.047620 meters # Minimum depth: 819.407718 meters looking forward 100.000000 meters along route # Maximum depth: 847.793825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 744.407718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061535; longitude = -121.036326; captureRadius = 10; duration = 206; initialDepth = 715.052128; finalDepth = 744.407718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.386107 # Actual altitude: 100 # Commanded vehicle depth: 744.407718 # Seafloor depth: -847.793825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.471493 meters # Minimum depth: 790.052128 meters looking forward 100.000000 meters along route # Maximum depth: 818.296820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 715.052128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060873; longitude = -121.037110; captureRadius = 10; duration = 220; initialDepth = 681.311085; finalDepth = 715.052128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.386107 # Actual altitude: 100 # Commanded vehicle depth: 715.052128 # Seafloor depth: -818.296820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.267861 meters # Minimum depth: 756.311085 meters looking forward 100.000000 meters along route # Maximum depth: 783.999677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 681.311085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060164; longitude = -121.037951; captureRadius = 10; duration = 200; initialDepth = 653.596214; finalDepth = 681.311085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.244692 # Actual altitude: 100 # Commanded vehicle depth: 681.311085 # Seafloor depth: -783.999677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 113.252782 meters # Minimum depth: 728.596214 meters looking forward 100.000000 meters along route # Maximum depth: 756.227120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.596214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059521; longitude = -121.038713; captureRadius = 10; duration = 226; initialDepth = 602.932236; finalDepth = 653.596214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.688592 # Actual altitude: 100 # Commanded vehicle depth: 653.596214 # Seafloor depth: -756.227120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 111.537505 meters # Minimum depth: 677.932236 meters looking forward 100.000000 meters along route # Maximum depth: 728.312747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.932236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058794; longitude = -121.039575; captureRadius = 10; duration = 223; initialDepth = 603.474585; finalDepth = 602.932236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.380511 # Actual altitude: 100 # Commanded vehicle depth: 602.932236 # Seafloor depth: -728.312747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.984669 meters # Minimum depth: 678.474585 meters looking forward 100.000000 meters along route # Maximum depth: 686.204890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 603.474585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058078; longitude = -121.040423; captureRadius = 10; duration = 203; initialDepth = 597.585595; finalDepth = 603.474585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.380511 # Actual altitude: 100 # Commanded vehicle depth: 603.474585 # Seafloor depth: -678.474585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.757767 meters # Minimum depth: 672.585595 meters looking forward 100.000000 meters along route # Maximum depth: 684.879131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.585595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057423; longitude = -121.041199; captureRadius = 10; duration = 217; initialDepth = 597.819814; finalDepth = 597.585595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.377421 # Actual altitude: 86.377421 # Commanded vehicle depth: 597.585595 # Seafloor depth: -683.963016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 345.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.765937 meters # Minimum depth: 672.819814 meters looking forward 100.000000 meters along route # Maximum depth: 674.525515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.819814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056725; longitude = -121.042026; captureRadius = 10; duration = 209; initialDepth = 597.014433; finalDepth = 597.819814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.377421 # Actual altitude: 86.377421 # Commanded vehicle depth: 597.819814 # Seafloor depth: -674.155677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 345.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.977989 meters # Minimum depth: 672.014433 meters looking forward 100.000000 meters along route # Maximum depth: 674.243205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.014433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056053; longitude = -121.042823; captureRadius = 10; duration = 211; initialDepth = 594.698371; finalDepth = 597.014433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2287719999999 # Actual altitude: 77.2287719999999 # Commanded vehicle depth: 597.014433 # Seafloor depth: -674.243205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 308.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.547246 meters # Minimum depth: 669.698371 meters looking forward 100.000000 meters along route # Maximum depth: 671.656213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.698371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055373; longitude = -121.043629; captureRadius = 10; duration = 215; initialDepth = 592.040404; finalDepth = 594.698371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2287719999999 # Actual altitude: 77.2287719999999 # Commanded vehicle depth: 594.698371 # Seafloor depth: -671.461183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 308.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.198171 meters # Minimum depth: 667.040404 meters looking forward 100.000000 meters along route # Maximum depth: 669.957373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.040404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054682; longitude = -121.044447; captureRadius = 10; duration = 206; initialDepth = 592.074640; finalDepth = 592.040404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.916969 # Actual altitude: 77.916969 # Commanded vehicle depth: 592.040404 # Seafloor depth: -669.957373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 311.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.328594 meters # Minimum depth: 667.074640 meters looking forward 100.000000 meters along route # Maximum depth: 668.610327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.074640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054020; longitude = -121.045232; captureRadius = 10; duration = 220; initialDepth = 589.839445; finalDepth = 592.074640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.916969 # Actual altitude: 77.916969 # Commanded vehicle depth: 592.07464 # Seafloor depth: -668.215923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 311.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.418314 meters # Minimum depth: 664.839445 meters looking forward 100.000000 meters along route # Maximum depth: 667.914789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.839445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053312; longitude = -121.046071; captureRadius = 10; duration = 200; initialDepth = 587.819491; finalDepth = 589.839445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.737556 # Actual altitude: 77.737556 # Commanded vehicle depth: 589.839445 # Seafloor depth: -667.577001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 310.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 113.109983 meters # Minimum depth: 662.819491 meters looking forward 100.000000 meters along route # Maximum depth: 665.199862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.819491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052668; longitude = -121.046835; captureRadius = 10; duration = 226; initialDepth = 579.876554; finalDepth = 587.819491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.737556 # Actual altitude: 77.737556 # Commanded vehicle depth: 587.819491 # Seafloor depth: -664.833400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 310.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 111.688363 meters # Minimum depth: 654.876554 meters looking forward 100.000000 meters along route # Maximum depth: 662.770389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.876554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051942; longitude = -121.047695; captureRadius = 10; duration = 223; initialDepth = 573.763993; finalDepth = 579.876554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.893835 # Actual altitude: 82.893835 # Commanded vehicle depth: 579.876554 # Seafloor depth: -662.770389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 331.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.841464 meters # Minimum depth: 648.763993 meters looking forward 100.000000 meters along route # Maximum depth: 655.646405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.763993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051225; longitude = -121.048545; captureRadius = 10; duration = 203; initialDepth = 558.680300; finalDepth = 573.763993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.893835 # Actual altitude: 82.893835 # Commanded vehicle depth: 573.763993 # Seafloor depth: -655.646405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 331.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.908527 meters # Minimum depth: 633.680300 meters looking forward 100.000000 meters along route # Maximum depth: 648.629214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 558.680300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050571; longitude = -121.049320; captureRadius = 10; duration = 217; initialDepth = 557.507163; finalDepth = 558.680300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9489140000001 # Actual altitude: 89.9489140000001 # Commanded vehicle depth: 558.6803 # Seafloor depth: -648.629214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.98; 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 17 # Segment length 104.622831 meters # Minimum depth: 632.507163 meters looking forward 100.000000 meters along route # Maximum depth: 638.768529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 557.507163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049872; longitude = -121.050148; captureRadius = 10; duration = 209; initialDepth = 566.963773; finalDepth = 557.507163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9489140000001 # Actual altitude: 89.9489140000001 # Commanded vehicle depth: 557.507163 # Seafloor depth: -632.507163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.98; 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 17 # Segment length 106.128650 meters # Minimum depth: 641.963773 meters looking forward 100.000000 meters along route # Maximum depth: 652.729781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 566.963773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049201; longitude = -121.050944; captureRadius = 10; duration = 212; initialDepth = 575.908966; finalDepth = 566.963773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 566.963773 # Seafloor depth: -641.963773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.404239 meters # Minimum depth: 650.908966 meters looking forward 100.000000 meters along route # Maximum depth: 653.351016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.908966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048520; longitude = -121.051751; captureRadius = 10; duration = 214; initialDepth = 572.548160; finalDepth = 575.908966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8463410000001 # Actual altitude: 76.8463410000001 # Commanded vehicle depth: 575.908966 # Seafloor depth: -652.755307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.348734 meters # Minimum depth: 647.548160 meters looking forward 100.000000 meters along route # Maximum depth: 650.797049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.548160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047830; longitude = -121.052568; captureRadius = 10; duration = 206; initialDepth = 571.467363; finalDepth = 572.548160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.215247 # Actual altitude: 78.215247 # Commanded vehicle depth: 572.54816 # Seafloor depth: -650.763407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 312.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.185686 meters # Minimum depth: 646.467363 meters looking forward 100.000000 meters along route # Maximum depth: 647.786680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.467363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047167; longitude = -121.053354; captureRadius = 10; duration = 220; initialDepth = 568.392778; finalDepth = 571.467363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.215247 # Actual altitude: 78.215247 # Commanded vehicle depth: 571.467363 # Seafloor depth: -647.519123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 312.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.568779 meters # Minimum depth: 643.392778 meters looking forward 100.000000 meters along route # Maximum depth: 647.678727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.392778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046460; longitude = -121.054192; captureRadius = 10; duration = 201; initialDepth = 570.211308; finalDepth = 568.392778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.125031 # Actual altitude: 79.125031 # Commanded vehicle depth: 568.392778 # Seafloor depth: -647.517809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 112.967173 meters # Minimum depth: 645.211308 meters looking forward 100.000000 meters along route # Maximum depth: 648.987221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 570.211308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045814; longitude = -121.054957; captureRadius = 10; duration = 225; initialDepth = 572.790815; finalDepth = 570.211308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.125031 # Actual altitude: 79.125031 # Commanded vehicle depth: 570.211308 # Seafloor depth: -645.425469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 111.839233 meters # Minimum depth: 647.790815 meters looking forward 100.000000 meters along route # Maximum depth: 649.703369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.790815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045089; longitude = -121.055816; captureRadius = 10; duration = 223; initialDepth = 568.847656; finalDepth = 572.790815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1956110000001 # Actual altitude: 76.1956110000001 # Commanded vehicle depth: 572.790815 # Seafloor depth: -648.986426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 304.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.698249 meters # Minimum depth: 643.847656 meters looking forward 100.000000 meters along route # Maximum depth: 648.324497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.847656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044372; longitude = -121.056667; captureRadius = 10; duration = 203; initialDepth = 564.513086; finalDepth = 568.847656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.566587 # Actual altitude: 78.566587 # Commanded vehicle depth: 568.847656 # Seafloor depth: -647.414243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 314.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.059298 meters # Minimum depth: 639.513086 meters looking forward 100.000000 meters along route # Maximum depth: 644.174749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 564.513086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043719; longitude = -121.057440; captureRadius = 10; duration = 218; initialDepth = 564.877542; finalDepth = 564.513086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4133529999999 # Actual altitude: 79.4133529999999 # Commanded vehicle depth: 564.513086 # Seafloor depth: -643.926439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.479715 meters # Minimum depth: 639.877542 meters looking forward 100.000000 meters along route # Maximum depth: 643.212177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 564.877542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043019; longitude = -121.058270; captureRadius = 10; duration = 208; initialDepth = 565.229935; finalDepth = 564.877542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4133529999999 # Actual altitude: 79.4133529999999 # Commanded vehicle depth: 564.877542 # Seafloor depth: -639.877542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.279323 meters # Minimum depth: 640.229935 meters looking forward 100.000000 meters along route # Maximum depth: 642.549442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 565.229935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042348; longitude = -121.059064; captureRadius = 10; duration = 212; initialDepth = 565.466823; finalDepth = 565.229935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.08186 # Actual altitude: 75.08186 # Commanded vehicle depth: 565.229935 # Seafloor depth: -640.311795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.261222 meters # Minimum depth: 640.466823 meters looking forward 100.000000 meters along route # Maximum depth: 645.942775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 565.466823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041666; longitude = -121.059873; captureRadius = 10; duration = 214; initialDepth = 568.109163; finalDepth = 565.466823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2786150000001 # Actual altitude: 75.2786150000001 # Commanded vehicle depth: 565.466823 # Seafloor depth: -640.745438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; 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 17 # Segment length 103.499308 meters # Minimum depth: 643.109163 meters looking forward 100.000000 meters along route # Maximum depth: 646.067014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.109163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040978; longitude = -121.060689; captureRadius = 10; duration = 206; initialDepth = 567.031724; finalDepth = 568.109163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.957851 # Actual altitude: 77.957851 # Commanded vehicle depth: 568.109163 # Seafloor depth: -646.067014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.042768 meters # Minimum depth: 642.031724 meters looking forward 100.000000 meters along route # Maximum depth: 645.055864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 567.031724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040314; longitude = -121.061476; captureRadius = 10; duration = 220; initialDepth = 568.185634; finalDepth = 567.031724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.957851 # Actual altitude: 77.957851 # Commanded vehicle depth: 567.031724 # Seafloor depth: -643.033026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.719254 meters # Minimum depth: 643.185634 meters looking forward 100.000000 meters along route # Maximum depth: 646.172803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.185634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039608; longitude = -121.062313; captureRadius = 10; duration = 201; initialDepth = 571.295955; finalDepth = 568.185634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.738337 # Actual altitude: 76.738337 # Commanded vehicle depth: 568.185634 # Seafloor depth: -644.923971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.70; 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 17 # Segment length 112.824354 meters # Minimum depth: 646.295955 meters looking forward 100.000000 meters along route # Maximum depth: 649.700666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.295955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038961; longitude = -121.063079; captureRadius = 10; duration = 225; initialDepth = 574.467681; finalDepth = 571.295955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.738337 # Actual altitude: 76.738337 # Commanded vehicle depth: 571.295955 # Seafloor depth: -646.295955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.70; 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 17 # Segment length 111.990114 meters # Minimum depth: 649.467681 meters looking forward 100.000000 meters along route # Maximum depth: 654.633425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.467681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038237; longitude = -121.063937; captureRadius = 10; duration = 223; initialDepth = 580.686731; finalDepth = 574.467681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 574.467681 # Seafloor depth: -649.467681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.555025 meters # Minimum depth: 655.686731 meters looking forward 100.000000 meters along route # Maximum depth: 658.997670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.686731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037518; longitude = -121.064789; captureRadius = 10; duration = 203; initialDepth = 584.347173; finalDepth = 580.686731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1580749999999 # Actual altitude: 75.1580749999999 # Commanded vehicle depth: 580.686731 # Seafloor depth: -655.844806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.210080 meters # Minimum depth: 659.347173 meters looking forward 100.000000 meters along route # Maximum depth: 666.461906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.347173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036867; longitude = -121.065561; captureRadius = 10; duration = 218; initialDepth = 591.727824; finalDepth = 584.347173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1580749999999 # Actual altitude: 75.1580749999999 # Commanded vehicle depth: 584.347173 # Seafloor depth: -659.347173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.336590 meters # Minimum depth: 666.727824 meters looking forward 100.000000 meters along route # Maximum depth: 675.134985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.727824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.066392; captureRadius = 10; duration = 208; initialDepth = 600.056855; finalDepth = 591.727824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 591.727824 # Seafloor depth: -666.727824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.430007 meters # Minimum depth: 675.056855 meters looking forward 100.000000 meters along route # Maximum depth: 679.894093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.056855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035496; longitude = -121.067185; captureRadius = 10; duration = 212; initialDepth = 604.399148; finalDepth = 600.056855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 600.056855 # Seafloor depth: -675.056855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.118195 meters # Minimum depth: 679.399148 meters looking forward 100.000000 meters along route # Maximum depth: 683.382979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 604.399148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.067995; captureRadius = 10; duration = 214; initialDepth = 604.182692; finalDepth = 604.399148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 604.399148 # Seafloor depth: -679.399148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.649894 meters # Minimum depth: 679.182692 meters looking forward 100.000000 meters along route # Maximum depth: 683.443041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 604.182692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034126; longitude = -121.068809; captureRadius = 10; duration = 207; initialDepth = 600.789245; finalDepth = 604.182692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.558078 # Actual altitude: 78.558078 # Commanded vehicle depth: 604.182692 # Seafloor depth: -682.740770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.899840 meters # Minimum depth: 675.789245 meters looking forward 100.000000 meters along route # Maximum depth: 678.661673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.789245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.069598; captureRadius = 10; duration = 219; initialDepth = 602.551535; finalDepth = 600.789245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.558078 # Actual altitude: 78.558078 # Commanded vehicle depth: 600.789245 # Seafloor depth: -678.661673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.869741 meters # Minimum depth: 677.551535 meters looking forward 100.000000 meters along route # Maximum depth: 690.810536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.551535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032755; longitude = -121.070433; captureRadius = 10; duration = 201; initialDepth = 616.069970; finalDepth = 602.551535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8724279999999 # Actual altitude: 77.8724279999999 # Commanded vehicle depth: 602.551535 # Seafloor depth: -677.551535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 311.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 112.681524 meters # Minimum depth: 691.069970 meters looking forward 100.000000 meters along route # Maximum depth: 703.638771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.069970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032108; longitude = -121.071201; captureRadius = 10; duration = 225; initialDepth = 628.697079; finalDepth = 616.069970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 616.06997 # Seafloor depth: -691.069970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 112.141007 meters # Minimum depth: 703.697079 meters looking forward 100.000000 meters along route # Maximum depth: 730.402782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 628.697079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031385; longitude = -121.072058; captureRadius = 10; duration = 224; initialDepth = 658.545514; finalDepth = 628.697079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 628.697079 # Seafloor depth: -703.697079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.411791 meters # Minimum depth: 733.545514 meters looking forward 100.000000 meters along route # Maximum depth: 756.386908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 658.545514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030665; longitude = -121.072910; captureRadius = 10; duration = 202; initialDepth = 682.143143; finalDepth = 658.545514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 658.545514 # Seafloor depth: -733.545514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.360873 meters # Minimum depth: 757.143143 meters looking forward 100.000000 meters along route # Maximum depth: 780.635529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.143143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030014; longitude = -121.073682; captureRadius = 10; duration = 218; initialDepth = 707.551806; finalDepth = 682.143143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 682.143143 # Seafloor depth: -757.143143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.193456 meters # Minimum depth: 782.551806 meters looking forward 100.000000 meters along route # Maximum depth: 806.900535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 707.551806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029313; longitude = -121.074513; captureRadius = 10; duration = 208; initialDepth = 732.934854; finalDepth = 707.551806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 707.551806 # Seafloor depth: -782.551806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.580701 meters # Minimum depth: 807.934854 meters looking forward 100.000000 meters along route # Maximum depth: 830.900094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 732.934854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028644; longitude = -121.075306; captureRadius = 10; duration = 213; initialDepth = 757.987075; finalDepth = 732.934854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 732.934854 # Seafloor depth: -807.934854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.975159 meters # Minimum depth: 832.987075 meters looking forward 100.000000 meters along route # Maximum depth: 856.074239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 757.987075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027960; longitude = -121.076116; captureRadius = 10; duration = 213; initialDepth = 784.097364; finalDepth = 757.987075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 757.987075 # Seafloor depth: -832.987075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.800490 meters # Minimum depth: 859.097364 meters looking forward 100.000000 meters along route # Maximum depth: 880.198411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 784.097364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027274; longitude = -121.076930; captureRadius = 10; duration = 207; initialDepth = 806.171221; finalDepth = 784.097364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 784.097364 # Seafloor depth: -859.097364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.756903 meters # Minimum depth: 881.171221 meters looking forward 100.000000 meters along route # Maximum depth: 896.131889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 806.171221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026607; longitude = -121.077719; captureRadius = 10; duration = 219; initialDepth = 822.863529; finalDepth = 806.171221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 806.171221 # Seafloor depth: -881.171221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.020239 meters # Minimum depth: 897.863529 meters looking forward 100.000000 meters along route # Maximum depth: 902.727998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 822.863529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025903; longitude = -121.078554; captureRadius = 10; duration = 202; initialDepth = 823.691565; finalDepth = 822.863529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 822.863529 # Seafloor depth: -897.863529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.047146 meters # Minimum depth: 898.691565 meters looking forward 100.000000 meters along route # Maximum depth: 901.625361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 823.691565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025255; longitude = -121.079322; captureRadius = 10; duration = 206; initialDepth = 826.272949; finalDepth = 823.691565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.933796 # Actual altitude: 77.933796 # Commanded vehicle depth: 823.691565 # Seafloor depth: -901.625361 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; 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; } # ####################################################### # # 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 96.760560 meters # Minimum depth: 901.272949 meters looking forward 100.000000 meters along route # Maximum depth: 909.108738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 826.272949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024594; longitude = -121.080106; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 835.707508; finalDepth = 826.272949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.933796 # Actual altitude: 77.933796 # Commanded vehicle depth: 826.272949 # Seafloor depth: -901.272949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; 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 16 # Segment length 100.097134 meters # Minimum depth: 910.707508 meters looking forward 100.000000 meters along route # Maximum depth: 917.913401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 835.707508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024555; longitude = -121.081153; captureRadius = 10; duration = 200; initialDepth = 843.136760; finalDepth = 835.707508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 835.707508 # Seafloor depth: -910.707508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.770279 meters # Minimum depth: 918.136760 meters looking forward 100.000000 meters along route # Maximum depth: 929.598112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 843.136760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024516; longitude = -121.082236; captureRadius = 10; duration = 213; initialDepth = 851.927198; finalDepth = 843.136760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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: 843.13676 # Seafloor depth: -918.136760 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 15 # Segment length 135.538839 meters # Minimum depth: 926.927198 meters looking forward 100.000000 meters along route # Maximum depth: 929.872884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.927198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024473; longitude = -121.083390; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 842.838785; finalDepth = 851.927198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.945686 # Actual altitude: 77.945686 # Commanded vehicle depth: 851.927198 # Seafloor depth: -929.872884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.282879 meters # Minimum depth: 917.838785 meters looking forward 100.000000 meters along route # Maximum depth: 926.510782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.838785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025345; longitude = -121.082362; captureRadius = 10; duration = 204; initialDepth = 831.921877; finalDepth = 842.838785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6719969999999 # Actual altitude: 83.6719969999999 # Commanded vehicle depth: 842.838785 # Seafloor depth: -926.510782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 334.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.034789 meters # Minimum depth: 906.921877 meters looking forward 100.000000 meters along route # Maximum depth: 918.130982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 831.921877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026003; longitude = -121.081586; captureRadius = 10; duration = 216; initialDepth = 820.087046; finalDepth = 831.921877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.209105 # Actual altitude: 86.209105 # Commanded vehicle depth: 831.921877 # Seafloor depth: -918.130982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 344.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.003137 meters # Minimum depth: 895.087046 meters looking forward 100.000000 meters along route # Maximum depth: 906.139460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 820.087046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026698; longitude = -121.080766; captureRadius = 10; duration = 212; initialDepth = 804.895636; finalDepth = 820.087046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.209105 # Actual altitude: 86.209105 # Commanded vehicle depth: 820.087046 # Seafloor depth: -906.139460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 344.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.313050 meters # Minimum depth: 879.895636 meters looking forward 100.000000 meters along route # Maximum depth: 893.920980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 804.895636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027379; longitude = -121.079962; captureRadius = 10; duration = 208; initialDepth = 790.210076; finalDepth = 804.895636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.025344 # Actual altitude: 89.025344 # Commanded vehicle depth: 804.895636 # Seafloor depth: -893.920980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.61; 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 15 # Segment length 109.723341 meters # Minimum depth: 865.210076 meters looking forward 100.000000 meters along route # Maximum depth: 879.319212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 790.210076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028050; longitude = -121.079170; captureRadius = 10; duration = 219; initialDepth = 772.087847; finalDepth = 790.210076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.109136 # Actual altitude: 89.109136 # Commanded vehicle depth: 790.210076 # Seafloor depth: -879.319212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.591363 meters # Minimum depth: 847.087847 meters looking forward 100.000000 meters along route # Maximum depth: 862.688252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 772.087847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028756; longitude = -121.078338; captureRadius = 10; duration = 201; initialDepth = 751.446231; finalDepth = 772.087847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.600405 # Actual altitude: 90.600405 # Commanded vehicle depth: 772.087847 # Seafloor depth: -862.688252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.24; 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 15 # Segment length 112.167236 meters # Minimum depth: 826.446231 meters looking forward 100.000000 meters along route # Maximum depth: 847.027328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 751.446231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029403; longitude = -121.077574; captureRadius = 10; duration = 224; initialDepth = 724.356636; finalDepth = 751.446231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.581097 # Actual altitude: 95.581097 # Commanded vehicle depth: 751.446231 # Seafloor depth: -847.027328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.158663 meters # Minimum depth: 799.356636 meters looking forward 100.000000 meters along route # Maximum depth: 824.365776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 724.356636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030124; longitude = -121.076723; captureRadius = 10; duration = 202; initialDepth = 695.713121; finalDepth = 724.356636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.00914 # Actual altitude: 100 # Commanded vehicle depth: 724.356636 # Seafloor depth: -824.365776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.153768 meters # Minimum depth: 770.713121 meters looking forward 100.000000 meters along route # Maximum depth: 798.707887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 695.713121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030775; longitude = -121.075956; captureRadius = 10; duration = 218; initialDepth = 667.843284; finalDepth = 695.713121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.994766 # Actual altitude: 100 # Commanded vehicle depth: 695.713121 # Seafloor depth: -798.707887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.878836 meters # Minimum depth: 742.843284 meters looking forward 100.000000 meters along route # Maximum depth: 768.376330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 667.843284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031477; longitude = -121.075127; captureRadius = 10; duration = 209; initialDepth = 642.030912; finalDepth = 667.843284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.994766 # Actual altitude: 100 # Commanded vehicle depth: 667.843284 # Seafloor depth: -768.376330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.432113 meters # Minimum depth: 717.030912 meters looking forward 100.000000 meters along route # Maximum depth: 740.597987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 642.030912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032151; longitude = -121.074331; captureRadius = 10; duration = 210; initialDepth = 630.460274; finalDepth = 642.030912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.533046 # Actual altitude: 100 # Commanded vehicle depth: 642.030912 # Seafloor depth: -740.597987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.598956 meters # Minimum depth: 705.460274 meters looking forward 100.000000 meters along route # Maximum depth: 716.358906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 630.460274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032829; longitude = -121.073531; captureRadius = 10; duration = 217; initialDepth = 621.370656; finalDepth = 630.460274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.567075 # Actual altitude: 98.567075 # Commanded vehicle depth: 630.460274 # Seafloor depth: -716.358906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; 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 15 # Segment length 101.710511 meters # Minimum depth: 696.370656 meters looking forward 100.000000 meters along route # Maximum depth: 704.815350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 621.370656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033528; longitude = -121.072707; captureRadius = 10; duration = 203; initialDepth = 615.570484; finalDepth = 621.370656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.898632 # Actual altitude: 85.898632 # Commanded vehicle depth: 621.370656 # Seafloor depth: -704.815350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 343.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.319022 meters # Minimum depth: 690.570484 meters looking forward 100.000000 meters along route # Maximum depth: 696.733256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 615.570484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034182; longitude = -121.071935; captureRadius = 10; duration = 224; initialDepth = 611.566750; finalDepth = 615.570484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4446939999999 # Actual altitude: 83.4446939999999 # Commanded vehicle depth: 615.570484 # Seafloor depth: -696.733256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 333.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.009442 meters # Minimum depth: 686.566750 meters looking forward 100.000000 meters along route # Maximum depth: 691.747290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 611.566750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034904; longitude = -121.071083; captureRadius = 10; duration = 224; initialDepth = 603.644316; finalDepth = 611.566750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.162772 # Actual altitude: 81.162772 # Commanded vehicle depth: 611.56675 # Seafloor depth: -691.747290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.47; MB_Bottom_Detect_Filter_Max_Range = 324.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.018557 meters # Minimum depth: 678.644316 meters looking forward 100.000000 meters along route # Maximum depth: 685.254380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 603.644316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035625; longitude = -121.070233; captureRadius = 10; duration = 204; initialDepth = 599.768978; finalDepth = 603.644316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.610064 # Actual altitude: 81.610064 # Commanded vehicle depth: 603.644316 # Seafloor depth: -685.254380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 326.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.287847 meters # Minimum depth: 674.768978 meters looking forward 100.000000 meters along route # Maximum depth: 679.051257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.768978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036281; longitude = -121.069459; captureRadius = 10; duration = 216; initialDepth = 595.942124; finalDepth = 599.768978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.610064 # Actual altitude: 81.610064 # Commanded vehicle depth: 599.768978 # Seafloor depth: -678.133437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 326.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.738617 meters # Minimum depth: 670.942124 meters looking forward 100.000000 meters along route # Maximum depth: 674.561832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.942124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036977; longitude = -121.068637; captureRadius = 10; duration = 211; initialDepth = 575.833004; finalDepth = 595.942124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6197079999999 # Actual altitude: 78.6197079999999 # Commanded vehicle depth: 595.942124 # Seafloor depth: -674.561832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 314.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.566305 meters # Minimum depth: 650.833004 meters looking forward 100.000000 meters along route # Maximum depth: 669.902878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.833004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037657; longitude = -121.067835; captureRadius = 10; duration = 209; initialDepth = 575.745160; finalDepth = 575.833004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.069874 # Actual altitude: 94.069874 # Commanded vehicle depth: 575.833004 # Seafloor depth: -669.902878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; 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 15 # Segment length 109.458624 meters # Minimum depth: 650.745160 meters looking forward 100.000000 meters along route # Maximum depth: 654.378039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.745160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038330; longitude = -121.067041; captureRadius = 10; duration = 218; initialDepth = 575.404533; finalDepth = 575.745160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.069874 # Actual altitude: 94.069874 # Commanded vehicle depth: 575.74516 # Seafloor depth: -650.864709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; 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 15 # Segment length 100.844816 meters # Minimum depth: 650.404533 meters looking forward 100.000000 meters along route # Maximum depth: 654.265672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.404533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039034; longitude = -121.066211; captureRadius = 10; duration = 201; initialDepth = 570.670802; finalDepth = 575.404533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.861139 # Actual altitude: 78.861139 # Commanded vehicle depth: 575.404533 # Seafloor depth: -654.265672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 315.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.161229 meters # Minimum depth: 645.670802 meters looking forward 100.000000 meters along route # Maximum depth: 650.595748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 570.670802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039683; longitude = -121.065445; captureRadius = 10; duration = 224; initialDepth = 568.894300; finalDepth = 570.670802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.924946 # Actual altitude: 79.924946 # Commanded vehicle depth: 570.670802 # Seafloor depth: -650.595748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.894408 meters # Minimum depth: 643.894300 meters looking forward 100.000000 meters along route # Maximum depth: 646.673759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.894300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040404; longitude = -121.064594; captureRadius = 10; duration = 201; initialDepth = 567.111339; finalDepth = 568.894300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.924946 # Actual altitude: 79.924946 # Commanded vehicle depth: 568.8943 # Seafloor depth: -646.673759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.406760 meters # Minimum depth: 642.111339 meters looking forward 100.000000 meters along route # Maximum depth: 643.741822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 567.111339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041053; longitude = -121.063829; captureRadius = 10; duration = 218; initialDepth = 566.389749; finalDepth = 567.111339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.779459 # Actual altitude: 77.779459 # Commanded vehicle depth: 567.111339 # Seafloor depth: -643.741822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 311.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.614384 meters # Minimum depth: 641.389749 meters looking forward 100.000000 meters along route # Maximum depth: 642.425927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 566.389749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041757; longitude = -121.062998; captureRadius = 10; duration = 209; initialDepth = 566.703725; finalDepth = 566.389749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6304829999999 # Actual altitude: 76.6304829999999 # Commanded vehicle depth: 566.389749 # Seafloor depth: -641.498238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.685302 meters # Minimum depth: 641.703725 meters looking forward 100.000000 meters along route # Maximum depth: 643.446352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 566.703725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042429; longitude = -121.062204; captureRadius = 10; duration = 211; initialDepth = 568.370471; finalDepth = 566.703725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.108489 # Actual altitude: 75.108489 # Commanded vehicle depth: 566.703725 # Seafloor depth: -641.703725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 300.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.334306 meters # Minimum depth: 643.370471 meters looking forward 100.000000 meters along route # Maximum depth: 648.921501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 568.370471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043109; longitude = -121.061402; captureRadius = 10; duration = 216; initialDepth = 571.390293; finalDepth = 568.370471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 568.370471 # Seafloor depth: -643.370471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.963899 meters # Minimum depth: 646.390293 meters looking forward 100.000000 meters along route # Maximum depth: 649.465313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.390293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043806; longitude = -121.060580; captureRadius = 10; duration = 203; initialDepth = 573.105548; finalDepth = 571.390293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.844198 # Actual altitude: 76.844198 # Commanded vehicle depth: 571.390293 # Seafloor depth: -648.234491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.158436 meters # Minimum depth: 648.105548 meters looking forward 100.000000 meters along route # Maximum depth: 649.475782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.105548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044462; longitude = -121.059807; captureRadius = 10; duration = 224; initialDepth = 571.359467; finalDepth = 573.105548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.844198 # Actual altitude: 76.844198 # Commanded vehicle depth: 573.105548 # Seafloor depth: -649.475782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.158016 meters # Minimum depth: 646.359467 meters looking forward 100.000000 meters along route # Maximum depth: 648.580590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.359467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045183; longitude = -121.058955; captureRadius = 10; duration = 224; initialDepth = 566.756447; finalDepth = 571.359467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.221123 # Actual altitude: 77.221123 # Commanded vehicle depth: 571.359467 # Seafloor depth: -648.580590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 308.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.754263 meters # Minimum depth: 641.756447 meters looking forward 100.000000 meters along route # Maximum depth: 645.850070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 566.756447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045905; longitude = -121.058104; captureRadius = 10; duration = 203; initialDepth = 555.825823; finalDepth = 566.756447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.093623 # Actual altitude: 79.093623 # Commanded vehicle depth: 566.756447 # Seafloor depth: -645.850070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 316.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.540879 meters # Minimum depth: 630.825823 meters looking forward 100.000000 meters along route # Maximum depth: 641.389474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 555.825823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046559; longitude = -121.057332; captureRadius = 10; duration = 217; initialDepth = 555.892146; finalDepth = 555.825823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.5636509999999 # Actual altitude: 85.5636509999999 # Commanded vehicle depth: 555.825823 # Seafloor depth: -641.389474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.23; MB_Bottom_Detect_Filter_Max_Range = 342.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.474127 meters # Minimum depth: 630.892146 meters looking forward 100.000000 meters along route # Maximum depth: 643.409324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 555.892146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047257; longitude = -121.056508; captureRadius = 10; duration = 210; initialDepth = 569.532949; finalDepth = 555.892146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.5636509999999 # Actual altitude: 85.5636509999999 # Commanded vehicle depth: 555.892146 # Seafloor depth: -630.892146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.23; MB_Bottom_Detect_Filter_Max_Range = 342.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.819534 meters # Minimum depth: 644.532949 meters looking forward 100.000000 meters along route # Maximum depth: 650.813050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 569.532949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047936; longitude = -121.055708; captureRadius = 10; duration = 209; initialDepth = 576.224930; finalDepth = 569.532949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 569.532949 # Seafloor depth: -644.532949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.193936 meters # Minimum depth: 651.224930 meters looking forward 100.000000 meters along route # Maximum depth: 654.122514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.224930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048610; longitude = -121.054912; captureRadius = 10; duration = 218; initialDepth = 579.223365; finalDepth = 576.224930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.158234 # Actual altitude: 75.158234 # Commanded vehicle depth: 576.22493 # Seafloor depth: -651.383164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.098244 meters # Minimum depth: 654.223365 meters looking forward 100.000000 meters along route # Maximum depth: 658.396263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.223365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049312; longitude = -121.054084; captureRadius = 10; duration = 202; initialDepth = 583.409749; finalDepth = 579.223365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.158234 # Actual altitude: 75.158234 # Commanded vehicle depth: 579.223365 # Seafloor depth: -654.223365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.913693 meters # Minimum depth: 658.409749 meters looking forward 100.000000 meters along route # Maximum depth: 661.975136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.409749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049962; longitude = -121.053317; captureRadius = 10; duration = 225; initialDepth = 586.996976; finalDepth = 583.409749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 583.409749 # Seafloor depth: -658.409749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 111.396332 meters # Minimum depth: 661.996976 meters looking forward 100.000000 meters along route # Maximum depth: 664.507434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 586.996976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050689; longitude = -121.052460; captureRadius = 10; duration = 222; initialDepth = 587.201951; finalDepth = 586.996976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 586.996976 # Seafloor depth: -661.996976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.614070 meters # Minimum depth: 662.201951 meters looking forward 100.000000 meters along route # Maximum depth: 666.236269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.201951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051405; longitude = -121.051614; captureRadius = 10; duration = 205; initialDepth = 586.443889; finalDepth = 587.201951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 587.201951 # Seafloor depth: -662.201951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.675048 meters # Minimum depth: 661.443889 meters looking forward 100.000000 meters along route # Maximum depth: 666.382132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 586.443889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052065; longitude = -121.050835; captureRadius = 10; duration = 215; initialDepth = 587.929663; finalDepth = 586.443889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9382429999999 # Actual altitude: 79.9382429999999 # Commanded vehicle depth: 586.443889 # Seafloor depth: -666.382132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 319.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.333821 meters # Minimum depth: 662.929663 meters looking forward 100.000000 meters along route # Maximum depth: 671.813227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.929663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052758; longitude = -121.050018; captureRadius = 10; duration = 212; initialDepth = 596.559710; finalDepth = 587.929663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9382429999999 # Actual altitude: 79.9382429999999 # Commanded vehicle depth: 587.929663 # Seafloor depth: -662.929663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 319.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.953816 meters # Minimum depth: 671.559710 meters looking forward 100.000000 meters along route # Maximum depth: 673.462264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.559710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053442; longitude = -121.049211; captureRadius = 10; duration = 207; initialDepth = 591.800440; finalDepth = 596.559710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.025576 # Actual altitude: 76.025576 # Commanded vehicle depth: 596.55971 # Seafloor depth: -672.585286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 304.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 110.053518 meters # Minimum depth: 666.800440 meters looking forward 100.000000 meters along route # Maximum depth: 671.089531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 591.800440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054110; longitude = -121.048422; captureRadius = 10; duration = 220; initialDepth = 590.172583; finalDepth = 591.800440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.289091 # Actual altitude: 79.289091 # Commanded vehicle depth: 591.80044 # Seafloor depth: -671.089531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.232638 meters # Minimum depth: 665.172583 meters looking forward 100.000000 meters along route # Maximum depth: 667.229951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.172583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054818; longitude = -121.047587; captureRadius = 10; duration = 200; initialDepth = 590.181487; finalDepth = 590.172583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.289091 # Actual altitude: 79.289091 # Commanded vehicle depth: 590.172583 # Seafloor depth: -666.683791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.152010 meters # Minimum depth: 665.181487 meters looking forward 100.000000 meters along route # Maximum depth: 667.947836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.181487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055463; longitude = -121.046826; captureRadius = 10; duration = 224; initialDepth = 585.494952; finalDepth = 590.181487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.511208 # Actual altitude: 76.511208 # Commanded vehicle depth: 590.181487 # Seafloor depth: -665.181487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 306.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.490000 meters # Minimum depth: 660.494952 meters looking forward 100.000000 meters along route # Maximum depth: 665.952772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.494952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056184; longitude = -121.045975; captureRadius = 10; duration = 202; initialDepth = 585.422468; finalDepth = 585.494952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.45782 # Actual altitude: 80.45782 # Commanded vehicle depth: 585.494952 # Seafloor depth: -665.952772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.793885 meters # Minimum depth: 660.422468 meters looking forward 100.000000 meters along route # Maximum depth: 666.645639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.422468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056837; longitude = -121.045205; captureRadius = 10; duration = 217; initialDepth = 583.020601; finalDepth = 585.422468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.45782 # Actual altitude: 80.45782 # Commanded vehicle depth: 585.422468 # Seafloor depth: -663.731400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.209665 meters # Minimum depth: 658.020601 meters looking forward 100.000000 meters along route # Maximum depth: 666.578307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.020601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057537; longitude = -121.044379; captureRadius = 10; duration = 210; initialDepth = 592.360499; finalDepth = 583.020601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.308932 # Actual altitude: 78.308932 # Commanded vehicle depth: 583.020601 # Seafloor depth: -660.543410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 313.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.072738 meters # Minimum depth: 667.360499 meters looking forward 100.000000 meters along route # Maximum depth: 684.411729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.360499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058214; longitude = -121.043581; captureRadius = 10; duration = 210; initialDepth = 610.205600; finalDepth = 592.360499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5228089999999 # Actual altitude: 77.5228089999999 # Commanded vehicle depth: 592.360499 # Seafloor depth: -667.360499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.929278 meters # Minimum depth: 685.205600 meters looking forward 100.000000 meters along route # Maximum depth: 713.597419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.205600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058889; longitude = -121.042784; captureRadius = 10; duration = 217; initialDepth = 640.784482; finalDepth = 610.205600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 610.2056 # Seafloor depth: -685.205600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.351645 meters # Minimum depth: 715.784482 meters looking forward 100.000000 meters along route # Maximum depth: 734.546269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 640.784482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059590; longitude = -121.041957; captureRadius = 10; duration = 202; initialDepth = 659.839200; finalDepth = 640.784482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 640.784482 # Seafloor depth: -715.784482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 112.149219 meters # Minimum depth: 734.839200 meters looking forward 100.000000 meters along route # Maximum depth: 761.642474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 659.839200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060242; longitude = -121.041188; captureRadius = 10; duration = 224; initialDepth = 690.554577; finalDepth = 659.839200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 659.8392 # Seafloor depth: -734.839200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.365986 meters # Minimum depth: 765.554577 meters looking forward 100.000000 meters along route # Maximum depth: 793.265037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 690.554577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060963; longitude = -121.040336; captureRadius = 10; duration = 200; initialDepth = 718.777334; finalDepth = 690.554577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 690.554577 # Seafloor depth: -765.554577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.912666 meters # Minimum depth: 793.777334 meters looking forward 100.000000 meters along route # Maximum depth: 825.323336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 718.777334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061609; longitude = -121.039575; captureRadius = 10; duration = 219; initialDepth = 753.660127; finalDepth = 718.777334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 718.777334 # Seafloor depth: -793.777334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.085566 meters # Minimum depth: 828.660127 meters looking forward 100.000000 meters along route # Maximum depth: 859.285358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 753.660127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062316; longitude = -121.038741; captureRadius = 10; duration = 208; initialDepth = 785.759479; finalDepth = 753.660127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 753.660127 # Seafloor depth: -828.660127 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.988749 meters # Minimum depth: 860.759479 meters looking forward 100.000000 meters along route # Maximum depth: 865.022209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 785.759479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062986; longitude = -121.037951; captureRadius = 10; duration = 213; initialDepth = 788.854165; finalDepth = 785.759479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 785.759479 # Seafloor depth: -860.759479 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 14 # Segment length 119.338913 meters # Minimum depth: 863.854165 meters looking forward 100.000000 meters along route # Maximum depth: 865.229786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 788.854165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063674; longitude = -121.037139; captureRadius = 10; duration = 238; # abortOnTimeout = True; initialDepth = 784.508771; finalDepth = 788.854165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9122080000001 # Actual altitude: 75.9122080000001 # Commanded vehicle depth: 788.854165 # Seafloor depth: -864.766373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 303.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.661087 meters # Minimum depth: 859.508771 meters looking forward 100.000000 meters along route # Maximum depth: 864.586198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 784.508771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064429; longitude = -121.038059; captureRadius = 10; duration = 201; initialDepth = 746.512030; finalDepth = 784.508771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 79.122041 # Actual altitude: 79.122041 # Commanded vehicle depth: 784.508771 # Seafloor depth: -863.630812 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 175.470727 meters # Minimum depth: 821.512030 meters looking forward 100.000000 meters along route # Maximum depth: 858.777756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 746.512030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065067; longitude = -121.038835; captureRadius = 10; duration = 350; # abortOnTimeout = True; initialDepth = 717.700808; finalDepth = 746.512030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.265726 # Actual altitude: 100 # Commanded vehicle depth: 746.51203 # Seafloor depth: -858.777756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.129341 meters # Minimum depth: 792.700808 meters looking forward 100.000000 meters along route # Maximum depth: 819.792197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.700808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063939; longitude = -121.040168; captureRadius = 10; duration = 214; initialDepth = 686.729648; finalDepth = 717.700808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.265726 # Actual altitude: 100 # Commanded vehicle depth: 717.700808 # Seafloor depth: -819.792197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.373841 meters # Minimum depth: 761.729648 meters looking forward 100.000000 meters along route # Maximum depth: 790.526150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 686.729648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063251; longitude = -121.040982; captureRadius = 10; duration = 206; initialDepth = 674.736684; finalDepth = 686.729648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.796502 # Actual altitude: 100 # Commanded vehicle depth: 686.729648 # Seafloor depth: -790.526150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.385429 meters # Minimum depth: 749.736684 meters looking forward 100.000000 meters along route # Maximum depth: 761.068103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 674.736684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062587; longitude = -121.041768; captureRadius = 10; duration = 220; initialDepth = 657.929242; finalDepth = 674.736684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.796502 # Actual altitude: 100 # Commanded vehicle depth: 674.736684 # Seafloor depth: -760.999750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.119239 meters # Minimum depth: 732.929242 meters looking forward 100.000000 meters along route # Maximum depth: 748.405049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 657.929242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061877; longitude = -121.042606; captureRadius = 10; duration = 200; initialDepth = 645.264022; finalDepth = 657.929242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4758069999999 # Actual altitude: 90.4758069999999 # Commanded vehicle depth: 657.929242 # Seafloor depth: -748.405049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.19; 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 13 # Segment length 113.641562 meters # Minimum depth: 720.264022 meters looking forward 100.000000 meters along route # Maximum depth: 732.882678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 645.264022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061234; longitude = -121.043367; captureRadius = 10; duration = 227; initialDepth = 635.601377; finalDepth = 645.264022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4758069999999 # Actual altitude: 90.4758069999999 # Commanded vehicle depth: 645.264022 # Seafloor depth: -732.882678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.19; 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 13 # Segment length 110.898389 meters # Minimum depth: 710.601377 meters looking forward 100.000000 meters along route # Maximum depth: 720.203611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 635.601377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060504; longitude = -121.044231; captureRadius = 10; duration = 221; initialDepth = 623.438242; finalDepth = 635.601377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6186560000001 # Actual altitude: 87.6186560000001 # Commanded vehicle depth: 635.601377 # Seafloor depth: -720.203611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.05; 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 13 # Segment length 102.863946 meters # Minimum depth: 698.438242 meters looking forward 100.000000 meters along route # Maximum depth: 708.558079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 623.438242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059791; longitude = -121.045073; captureRadius = 10; duration = 205; initialDepth = 615.954803; finalDepth = 623.438242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1198370000001 # Actual altitude: 85.1198370000001 # Commanded vehicle depth: 623.438242 # Seafloor depth: -708.558079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 340.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.643794 meters # Minimum depth: 690.954803 meters looking forward 100.000000 meters along route # Maximum depth: 697.767937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 615.954803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059130; longitude = -121.045855; captureRadius = 10; duration = 215; initialDepth = 593.145038; finalDepth = 615.954803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1198370000001 # Actual altitude: 85.1198370000001 # Commanded vehicle depth: 615.954803 # Seafloor depth: -697.767937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 340.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.120073 meters # Minimum depth: 668.145038 meters looking forward 100.000000 meters along route # Maximum depth: 691.093199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.145038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058439; longitude = -121.046673; captureRadius = 10; duration = 212; initialDepth = 579.103728; finalDepth = 593.145038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.948161 # Actual altitude: 97.948161 # Commanded vehicle depth: 593.145038 # Seafloor depth: -691.093199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.18; 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 13 # Segment length 104.389152 meters # Minimum depth: 654.103728 meters looking forward 100.000000 meters along route # Maximum depth: 666.801678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.103728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057757; longitude = -121.047479; captureRadius = 10; duration = 208; initialDepth = 577.883902; finalDepth = 579.103728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.948161 # Actual altitude: 97.948161 # Commanded vehicle depth: 579.103728 # Seafloor depth: -666.801678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.18; 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 13 # Segment length 109.376247 meters # Minimum depth: 652.883902 meters looking forward 100.000000 meters along route # Maximum depth: 669.412834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.883902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057086; longitude = -121.048272; captureRadius = 10; duration = 218; initialDepth = 593.771332; finalDepth = 577.883902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.69795 # Actual altitude: 87.69795 # Commanded vehicle depth: 577.883902 # Seafloor depth: -653.545924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.08; 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 13 # Segment length 101.134466 meters # Minimum depth: 668.771332 meters looking forward 100.000000 meters along route # Maximum depth: 670.526185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.771332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056383; longitude = -121.049103; captureRadius = 10; duration = 202; initialDepth = 594.251107; finalDepth = 593.771332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.662022 # Actual altitude: 75.662022 # Commanded vehicle depth: 593.771332 # Seafloor depth: -669.095270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 302.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 112.272987 meters # Minimum depth: 669.251107 meters looking forward 100.000000 meters along route # Maximum depth: 671.441565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.251107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055733; longitude = -121.049871; captureRadius = 10; duration = 224; initialDepth = 597.293082; finalDepth = 594.251107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5613169999999 # Actual altitude: 75.5613169999999 # Commanded vehicle depth: 594.251107 # Seafloor depth: -669.812424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 302.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.117906 meters # Minimum depth: 672.293082 meters looking forward 100.000000 meters along route # Maximum depth: 674.067142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.293082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055012; longitude = -121.050724; captureRadius = 10; duration = 200; initialDepth = 597.270435; finalDepth = 597.293082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5613169999999 # Actual altitude: 75.5613169999999 # Commanded vehicle depth: 597.293082 # Seafloor depth: -672.834284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 302.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.395086 meters # Minimum depth: 672.270435 meters looking forward 100.000000 meters along route # Maximum depth: 673.961009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.270435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054369; longitude = -121.051485; captureRadius = 10; duration = 220; initialDepth = 593.690342; finalDepth = 597.270435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.541202 # Actual altitude: 75.541202 # Commanded vehicle depth: 597.270435 # Seafloor depth: -672.270435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 302.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.374094 meters # Minimum depth: 668.690342 meters looking forward 100.000000 meters along route # Maximum depth: 671.578338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.690342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053659; longitude = -121.052324; captureRadius = 10; duration = 206; initialDepth = 592.298081; finalDepth = 593.690342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.841941 # Actual altitude: 77.841941 # Commanded vehicle depth: 593.690342 # Seafloor depth: -671.532283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 311.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.140384 meters # Minimum depth: 667.298081 meters looking forward 100.000000 meters along route # Maximum depth: 669.392657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.298081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052995; longitude = -121.053109; captureRadius = 10; duration = 214; initialDepth = 590.420488; finalDepth = 592.298081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.841941 # Actual altitude: 77.841941 # Commanded vehicle depth: 592.298081 # Seafloor depth: -668.476901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 311.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.630329 meters # Minimum depth: 665.420488 meters looking forward 100.000000 meters along route # Maximum depth: 667.516019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.420488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052307; longitude = -121.053923; captureRadius = 10; duration = 213; initialDepth = 584.996425; finalDepth = 590.420488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0746810000001 # Actual altitude: 77.0746810000001 # Commanded vehicle depth: 590.420488 # Seafloor depth: -667.495169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 308.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.885635 meters # Minimum depth: 659.996425 meters looking forward 100.000000 meters along route # Maximum depth: 665.535484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.996425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051622; longitude = -121.054733; captureRadius = 10; duration = 207; initialDepth = 581.366451; finalDepth = 584.996425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.539059 # Actual altitude: 80.539059 # Commanded vehicle depth: 584.996425 # Seafloor depth: -665.535484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 322.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.886611 meters # Minimum depth: 656.366451 meters looking forward 100.000000 meters along route # Maximum depth: 660.299378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 581.366451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050954; longitude = -121.055523; captureRadius = 10; duration = 219; initialDepth = 575.580601; finalDepth = 581.366451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.539059 # Actual altitude: 80.539059 # Commanded vehicle depth: 581.366451 # Seafloor depth: -660.299378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 322.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.630840 meters # Minimum depth: 650.580601 meters looking forward 100.000000 meters along route # Maximum depth: 656.084455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.580601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050248; longitude = -121.056358; captureRadius = 10; duration = 201; initialDepth = 573.362753; finalDepth = 575.580601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.366181 # Actual altitude: 80.366181 # Commanded vehicle depth: 575.580601 # Seafloor depth: -655.946782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 113.142939 meters # Minimum depth: 648.362753 meters looking forward 100.000000 meters along route # Maximum depth: 650.722577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.362753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049602; longitude = -121.057122; captureRadius = 10; duration = 226; initialDepth = 567.559272; finalDepth = 573.362753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.366181 # Actual altitude: 80.366181 # Commanded vehicle depth: 573.362753 # Seafloor depth: -650.527611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 111.410647 meters # Minimum depth: 642.559272 meters looking forward 100.000000 meters along route # Maximum depth: 648.245205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 567.559272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048875; longitude = -121.057982; captureRadius = 10; duration = 222; initialDepth = 560.865633; finalDepth = 567.559272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.6859330000001 # Actual altitude: 80.6859330000001 # Commanded vehicle depth: 567.559272 # Seafloor depth: -648.245205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 322.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.364665 meters # Minimum depth: 635.865633 meters looking forward 100.000000 meters along route # Maximum depth: 642.554064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 560.865633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048159; longitude = -121.058828; captureRadius = 10; duration = 204; initialDepth = 562.365482; finalDepth = 560.865633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.688431 # Actual altitude: 81.688431 # Commanded vehicle depth: 560.865633 # Seafloor depth: -642.554064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 326.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 108.155859 meters # Minimum depth: 637.365482 meters looking forward 100.000000 meters along route # Maximum depth: 647.233832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 562.365482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047501; longitude = -121.059606; captureRadius = 10; duration = 216; initialDepth = 572.280460; finalDepth = 562.365482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.688431 # Actual altitude: 81.688431 # Commanded vehicle depth: 562.365482 # Seafloor depth: -637.365482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 326.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.620986 meters # Minimum depth: 647.280460 meters looking forward 100.000000 meters along route # Maximum depth: 648.773700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 572.280460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046806; longitude = -121.060428; captureRadius = 10; duration = 211; initialDepth = 571.347965; finalDepth = 572.280460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3973440000001 # Actual altitude: 75.3973440000001 # Commanded vehicle depth: 572.28046 # Seafloor depth: -647.677804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 301.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.901024 meters # Minimum depth: 646.347965 meters looking forward 100.000000 meters along route # Maximum depth: 649.569423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.347965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046128; longitude = -121.061230; captureRadius = 10; duration = 209; initialDepth = 571.064562; finalDepth = 571.347965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.148286 # Actual altitude: 77.148286 # Commanded vehicle depth: 571.347965 # Seafloor depth: -648.496251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 108.877354 meters # Minimum depth: 646.064562 meters looking forward 100.000000 meters along route # Maximum depth: 649.185700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.064562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045454; longitude = -121.062027; captureRadius = 10; duration = 217; initialDepth = 571.990261; finalDepth = 571.064562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.148286 # Actual altitude: 77.148286 # Commanded vehicle depth: 571.064562 # Seafloor depth: -647.993076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 101.646143 meters # Minimum depth: 646.990261 meters looking forward 100.000000 meters along route # Maximum depth: 649.086099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.990261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044754; longitude = -121.062854; captureRadius = 10; duration = 203; initialDepth = 571.660265; finalDepth = 571.990261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.928514 # Actual altitude: 76.928514 # Commanded vehicle depth: 571.990261 # Seafloor depth: -646.990261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 307.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 112.279807 meters # Minimum depth: 646.660265 meters looking forward 100.000000 meters along route # Maximum depth: 648.424537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.660265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044101; longitude = -121.063626; captureRadius = 10; duration = 224; initialDepth = 571.280393; finalDepth = 571.660265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.764272 # Actual altitude: 76.764272 # Commanded vehicle depth: 571.660265 # Seafloor depth: -648.424537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 113.870541 meters # Minimum depth: 646.280393 meters looking forward 100.000000 meters along route # Maximum depth: 649.252534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 571.280393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043380; longitude = -121.064479; captureRadius = 10; duration = 227; initialDepth = 574.284378; finalDepth = 571.280393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.764272 # Actual altitude: 76.764272 # Commanded vehicle depth: 571.280393 # Seafloor depth: -647.905250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.690340 meters # Minimum depth: 649.284378 meters looking forward 100.000000 meters along route # Maximum depth: 652.421985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.284378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042648; longitude = -121.065344; captureRadius = 10; duration = 221; initialDepth = 577.280741; finalDepth = 574.284378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.624857 # Actual altitude: 76.624857 # Commanded vehicle depth: 574.284378 # Seafloor depth: -649.284378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.091923 meters # Minimum depth: 652.280741 meters looking forward 100.000000 meters along route # Maximum depth: 656.071836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 577.280741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041937; longitude = -121.066185; captureRadius = 10; duration = 206; initialDepth = 580.141536; finalDepth = 577.280741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.232454 # Actual altitude: 75.232454 # Commanded vehicle depth: 577.280741 # Seafloor depth: -652.513195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; 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 13 # Segment length 107.435440 meters # Minimum depth: 655.141536 meters looking forward 100.000000 meters along route # Maximum depth: 660.164910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 580.141536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041275; longitude = -121.066969; captureRadius = 10; duration = 214; initialDepth = 585.549313; finalDepth = 580.141536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1002080000001 # Actual altitude: 76.1002080000001 # Commanded vehicle depth: 580.141536 # Seafloor depth: -656.241744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 304.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.348356 meters # Minimum depth: 660.549313 meters looking forward 100.000000 meters along route # Maximum depth: 663.734385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 585.549313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040584; longitude = -121.067785; captureRadius = 10; duration = 212; initialDepth = 588.615999; finalDepth = 585.549313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1002080000001 # Actual altitude: 76.1002080000001 # Commanded vehicle depth: 585.549313 # Seafloor depth: -660.549313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 304.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.180495 meters # Minimum depth: 663.615999 meters looking forward 100.000000 meters along route # Maximum depth: 669.048841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.615999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039901; longitude = -121.068593; captureRadius = 10; duration = 208; initialDepth = 594.325223; finalDepth = 588.615999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 588.615999 # Seafloor depth: -663.615999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.604834 meters # Minimum depth: 669.325223 meters looking forward 100.000000 meters along route # Maximum depth: 673.007962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.325223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039232; longitude = -121.069384; captureRadius = 10; duration = 219; initialDepth = 598.661039; finalDepth = 594.325223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 594.325223 # Seafloor depth: -669.325223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.925503 meters # Minimum depth: 673.661039 meters looking forward 100.000000 meters along route # Maximum depth: 679.562989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.661039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038528; longitude = -121.070217; captureRadius = 10; duration = 201; initialDepth = 603.115815; finalDepth = 598.661039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 598.661039 # Seafloor depth: -673.661039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 112.283454 meters # Minimum depth: 678.115815 meters looking forward 100.000000 meters along route # Maximum depth: 686.091150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 603.115815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037879; longitude = -121.070984; captureRadius = 10; duration = 224; initialDepth = 612.833346; finalDepth = 603.115815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 603.115815 # Seafloor depth: -678.115815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.345633 meters # Minimum depth: 687.833346 meters looking forward 100.000000 meters along route # Maximum depth: 697.125004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 612.833346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037158; longitude = -121.071837; captureRadius = 10; duration = 200; initialDepth = 622.455729; finalDepth = 612.833346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 612.833346 # Seafloor depth: -687.833346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.186985 meters # Minimum depth: 697.455729 meters looking forward 100.000000 meters along route # Maximum depth: 711.116478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 622.455729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036513; longitude = -121.072599; captureRadius = 10; duration = 220; initialDepth = 637.746343; finalDepth = 622.455729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 622.455729 # Seafloor depth: -697.455729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.602127 meters # Minimum depth: 712.746343 meters looking forward 100.000000 meters along route # Maximum depth: 727.205001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 637.746343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035805; longitude = -121.073436; captureRadius = 10; duration = 207; initialDepth = 653.091777; finalDepth = 637.746343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 637.746343 # Seafloor depth: -712.746343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.931978 meters # Minimum depth: 728.091777 meters looking forward 100.000000 meters along route # Maximum depth: 749.371971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.091777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035140; longitude = -121.074223; captureRadius = 10; duration = 213; initialDepth = 675.184830; finalDepth = 653.091777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 653.091777 # Seafloor depth: -728.091777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.858668 meters # Minimum depth: 750.184830 meters looking forward 100.000000 meters along route # Maximum depth: 770.669330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 675.184830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034453; longitude = -121.075035; captureRadius = 10; duration = 213; initialDepth = 697.995719; finalDepth = 675.184830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 675.18483 # Seafloor depth: -750.184830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.676924 meters # Minimum depth: 772.995719 meters looking forward 100.000000 meters along route # Maximum depth: 793.072027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 697.995719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033766; longitude = -121.075847; captureRadius = 10; duration = 207; initialDepth = 718.633287; finalDepth = 697.995719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 697.995719 # Seafloor depth: -772.995719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.115255 meters # Minimum depth: 793.633287 meters looking forward 100.000000 meters along route # Maximum depth: 807.760150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 718.633287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033100; longitude = -121.076635; captureRadius = 10; duration = 220; initialDepth = 734.783309; finalDepth = 718.633287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 718.633287 # Seafloor depth: -793.633287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.421824 meters # Minimum depth: 809.783309 meters looking forward 100.000000 meters along route # Maximum depth: 824.346390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 734.783309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032393; longitude = -121.077471; captureRadius = 10; duration = 200; initialDepth = 748.264154; finalDepth = 734.783309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 734.783309 # Seafloor depth: -809.783309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 113.371889 meters # Minimum depth: 823.264154 meters looking forward 100.000000 meters along route # Maximum depth: 827.226752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 748.264154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031747; longitude = -121.078234; captureRadius = 10; duration = 226; initialDepth = 750.485157; finalDepth = 748.264154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1502410000001 # Actual altitude: 76.1502410000001 # Commanded vehicle depth: 748.264154 # Seafloor depth: -824.414395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 111.202636 meters # Minimum depth: 825.485157 meters looking forward 100.000000 meters along route # Maximum depth: 865.047860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 750.485157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031019; longitude = -121.079096; captureRadius = 10; duration = 222; initialDepth = 792.265063; finalDepth = 750.485157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1502410000001 # Actual altitude: 76.1502410000001 # Commanded vehicle depth: 750.485157 # Seafloor depth: -825.485157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.592611 meters # Minimum depth: 867.265063 meters looking forward 100.000000 meters along route # Maximum depth: 889.260392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 792.265063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030305; longitude = -121.079940; captureRadius = 10; duration = 205; initialDepth = 814.824333; finalDepth = 792.265063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 792.265063 # Seafloor depth: -867.265063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.947542 meters # Minimum depth: 889.824333 meters looking forward 100.000000 meters along route # Maximum depth: 900.134047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 814.824333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029645; longitude = -121.080720; captureRadius = 10; duration = 215; initialDepth = 825.324224; finalDepth = 814.824333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 814.824333 # Seafloor depth: -889.824333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.849238 meters # Minimum depth: 900.324224 meters looking forward 100.000000 meters along route # Maximum depth: 905.483184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 825.324224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028952; longitude = -121.081540; captureRadius = 10; duration = 211; initialDepth = 830.854000; finalDepth = 825.324224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 825.324224 # Seafloor depth: -900.324224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.692403 meters # Minimum depth: 905.854000 meters looking forward 100.000000 meters along route # Maximum depth: 910.413860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 830.854000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028272; longitude = -121.082344; captureRadius = 10; duration = 209; initialDepth = 834.741019; finalDepth = 830.854000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 830.854 # Seafloor depth: -905.854000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.105912 meters # Minimum depth: 909.741019 meters looking forward 100.000000 meters along route # Maximum depth: 917.309231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 834.741019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027599; longitude = -121.083139; captureRadius = 10; duration = 218; initialDepth = 842.776639; finalDepth = 834.741019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.082421 # Actual altitude: 75.082421 # Commanded vehicle depth: 834.741019 # Seafloor depth: -909.823440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 101.437217 meters # Minimum depth: 917.776639 meters looking forward 100.000000 meters along route # Maximum depth: 933.401561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.776639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026898; longitude = -121.083968; captureRadius = 10; duration = 202; initialDepth = 858.715526; finalDepth = 842.776639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.082421 # Actual altitude: 75.082421 # Commanded vehicle depth: 842.776639 # Seafloor depth: -917.776639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.611507 meters # Minimum depth: 933.715526 meters looking forward 100.000000 meters along route # Maximum depth: 947.570324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.715526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026247; longitude = -121.084739; captureRadius = 10; duration = 215; initialDepth = 867.004256; finalDepth = 858.715526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 858.715526 # Seafloor depth: -933.715526 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 12 # Segment length 104.882431 meters # Minimum depth: 942.004256 meters looking forward 100.000000 meters along route # Maximum depth: 949.598078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 867.004256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025555; longitude = -121.085556; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 865.225873; finalDepth = 867.004256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3449459999999 # Actual altitude: 82.3449459999999 # Commanded vehicle depth: 867.004256 # Seafloor depth: -949.349202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.321929 meters # Minimum depth: 940.225873 meters looking forward 100.000000 meters along route # Maximum depth: 946.889336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.225873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026247; longitude = -121.086331; captureRadius = 10; duration = 200; initialDepth = 860.899349; finalDepth = 865.225873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 82.3449459999999 # Actual altitude: 82.3449459999999 # Commanded vehicle depth: 865.225873 # Seafloor depth: -940.545226 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 138.124794 meters # Minimum depth: 935.899349 meters looking forward 100.000000 meters along route # Maximum depth: 947.349284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 860.899349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026908; longitude = -121.087072; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 851.777833; finalDepth = 860.899349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.449935 # Actual altitude: 86.449935 # Commanded vehicle depth: 860.899349 # Seafloor depth: -947.349284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 345.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.021004 meters # Minimum depth: 926.777833 meters looking forward 100.000000 meters along route # Maximum depth: 935.695685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.777833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027798; longitude = -121.086025; captureRadius = 10; duration = 200; initialDepth = 846.024364; finalDepth = 851.777833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.449935 # Actual altitude: 86.449935 # Commanded vehicle depth: 851.777833 # Seafloor depth: -935.695685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 345.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.020669 meters # Minimum depth: 921.024364 meters looking forward 100.000000 meters along route # Maximum depth: 926.226138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 846.024364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028442; longitude = -121.085267; captureRadius = 10; duration = 200; initialDepth = 842.480650; finalDepth = 846.024364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.917852 # Actual altitude: 83.917852 # Commanded vehicle depth: 846.024364 # Seafloor depth: -926.226138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 335.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.020334 meters # Minimum depth: 917.480650 meters looking forward 100.000000 meters along route # Maximum depth: 920.543278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.480650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029086; longitude = -121.084509; captureRadius = 10; duration = 200; initialDepth = 836.006877; finalDepth = 842.480650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.201774 # Actual altitude: 80.201774 # Commanded vehicle depth: 842.48065 # Seafloor depth: -920.543278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 320.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.020000 meters # Minimum depth: 911.006877 meters looking forward 100.000000 meters along route # Maximum depth: 916.859693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 836.006877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029730; longitude = -121.083751; captureRadius = 10; duration = 200; initialDepth = 826.314139; finalDepth = 836.006877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.852816 # Actual altitude: 80.852816 # Commanded vehicle depth: 836.006877 # Seafloor depth: -916.859693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 323.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.019664 meters # Minimum depth: 901.314139 meters looking forward 100.000000 meters along route # Maximum depth: 909.765527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 826.314139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030374; longitude = -121.082993; captureRadius = 10; duration = 200; initialDepth = 808.877814; finalDepth = 826.314139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4513880000001 # Actual altitude: 83.4513880000001 # Commanded vehicle depth: 826.314139 # Seafloor depth: -909.765527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 333.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.019330 meters # Minimum depth: 883.877814 meters looking forward 100.000000 meters along route # Maximum depth: 899.089400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 808.877814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031018; longitude = -121.082236; captureRadius = 10; duration = 200; initialDepth = 792.003708; finalDepth = 808.877814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.211586 # Actual altitude: 90.211586 # Commanded vehicle depth: 808.877814 # Seafloor depth: -899.089400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.08; 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 11 # Segment length 100.018995 meters # Minimum depth: 867.003708 meters looking forward 100.000000 meters along route # Maximum depth: 883.810029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 792.003708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031662; longitude = -121.081478; captureRadius = 10; duration = 200; initialDepth = 776.231242; finalDepth = 792.003708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.806321 # Actual altitude: 91.806321 # Commanded vehicle depth: 792.003708 # Seafloor depth: -883.810029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.018660 meters # Minimum depth: 851.231242 meters looking forward 100.000000 meters along route # Maximum depth: 866.671468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.231242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032306; longitude = -121.080720; captureRadius = 10; duration = 200; initialDepth = 762.490072; finalDepth = 776.231242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.806321 # Actual altitude: 91.806321 # Commanded vehicle depth: 776.231242 # Seafloor depth: -866.671468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.018326 meters # Minimum depth: 837.490072 meters looking forward 100.000000 meters along route # Maximum depth: 850.474739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.490072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032950; longitude = -121.079962; captureRadius = 10; duration = 200; initialDepth = 747.041409; finalDepth = 762.490072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4402260000001 # Actual altitude: 90.4402260000001 # Commanded vehicle depth: 762.490072 # Seafloor depth: -850.474739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.18; 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 11 # Segment length 100.017990 meters # Minimum depth: 822.041409 meters looking forward 100.000000 meters along route # Maximum depth: 836.260136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 747.041409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033595; longitude = -121.079204; captureRadius = 10; duration = 200; initialDepth = 729.483175; finalDepth = 747.041409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2187269999999 # Actual altitude: 89.2187269999999 # Commanded vehicle depth: 747.041409 # Seafloor depth: -836.260136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.69; 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 11 # Segment length 100.017656 meters # Minimum depth: 804.483175 meters looking forward 100.000000 meters along route # Maximum depth: 821.301797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 729.483175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034239; longitude = -121.078446; captureRadius = 10; duration = 200; initialDepth = 708.616341; finalDepth = 729.483175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.818622 # Actual altitude: 91.818622 # Commanded vehicle depth: 729.483175 # Seafloor depth: -821.301797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.73; 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 11 # Segment length 100.017321 meters # Minimum depth: 783.616341 meters looking forward 100.000000 meters along route # Maximum depth: 802.288499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 708.616341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034883; longitude = -121.077688; captureRadius = 10; duration = 200; initialDepth = 685.237096; finalDepth = 708.616341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.672158 # Actual altitude: 93.672158 # Commanded vehicle depth: 708.616341 # Seafloor depth: -802.288499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.47; 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 11 # Segment length 100.016986 meters # Minimum depth: 760.237096 meters looking forward 100.000000 meters along route # Maximum depth: 781.943822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 685.237096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035527; longitude = -121.076930; captureRadius = 10; duration = 200; initialDepth = 664.936845; finalDepth = 685.237096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.706726 # Actual altitude: 96.706726 # Commanded vehicle depth: 685.237096 # Seafloor depth: -781.943822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.68; 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 11 # Segment length 100.016652 meters # Minimum depth: 739.936845 meters looking forward 100.000000 meters along route # Maximum depth: 760.010683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.936845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036171; longitude = -121.076172; captureRadius = 10; duration = 200; initialDepth = 642.863580; finalDepth = 664.936845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.706726 # Actual altitude: 96.706726 # Commanded vehicle depth: 664.936845 # Seafloor depth: -760.010683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.68; 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 11 # Segment length 100.016316 meters # Minimum depth: 717.863580 meters looking forward 100.000000 meters along route # Maximum depth: 739.234927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 642.863580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036815; longitude = -121.075414; captureRadius = 10; duration = 200; initialDepth = 620.237910; finalDepth = 642.863580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.371347 # Actual altitude: 96.371347 # Commanded vehicle depth: 642.86358 # Seafloor depth: -739.234927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; 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 11 # Segment length 100.015982 meters # Minimum depth: 695.237910 meters looking forward 100.000000 meters along route # Maximum depth: 717.088037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 620.237910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037459; longitude = -121.074656; captureRadius = 10; duration = 200; initialDepth = 606.651327; finalDepth = 620.237910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.8501269999999 # Actual altitude: 96.8501269999999 # Commanded vehicle depth: 620.23791 # Seafloor depth: -717.088037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.015647 meters # Minimum depth: 681.651327 meters looking forward 100.000000 meters along route # Maximum depth: 694.833108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.651327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038103; longitude = -121.073898; captureRadius = 10; duration = 200; initialDepth = 601.848780; finalDepth = 606.651327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.8501269999999 # Actual altitude: 96.8501269999999 # Commanded vehicle depth: 606.651327 # Seafloor depth: -694.833108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.015313 meters # Minimum depth: 676.848780 meters looking forward 100.000000 meters along route # Maximum depth: 683.563850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.848780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038748; longitude = -121.073140; captureRadius = 10; duration = 200; initialDepth = 599.378165; finalDepth = 601.848780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.181781 # Actual altitude: 88.181781 # Commanded vehicle depth: 601.84878 # Seafloor depth: -683.563850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.27; 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 11 # Segment length 100.014977 meters # Minimum depth: 674.378165 meters looking forward 100.000000 meters along route # Maximum depth: 678.066282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.378165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039392; longitude = -121.072382; captureRadius = 10; duration = 200; initialDepth = 597.189660; finalDepth = 599.378165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.71507 # Actual altitude: 81.71507 # Commanded vehicle depth: 599.378165 # Seafloor depth: -677.072053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.69; MB_Bottom_Detect_Filter_Max_Range = 326.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.014643 meters # Minimum depth: 672.189660 meters looking forward 100.000000 meters along route # Maximum depth: 675.694814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.189660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040036; longitude = -121.071624; captureRadius = 10; duration = 200; initialDepth = 592.166876; finalDepth = 597.189660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4893059999999 # Actual altitude: 78.4893059999999 # Commanded vehicle depth: 597.18966 # Seafloor depth: -675.678966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 313.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.014308 meters # Minimum depth: 667.166876 meters looking forward 100.000000 meters along route # Maximum depth: 672.184733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.166876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040680; longitude = -121.070867; captureRadius = 10; duration = 200; initialDepth = 589.204309; finalDepth = 592.166876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.017857 # Actual altitude: 80.017857 # Commanded vehicle depth: 592.166876 # Seafloor depth: -672.184733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 320.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.013973 meters # Minimum depth: 664.204309 meters looking forward 100.000000 meters along route # Maximum depth: 668.194982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.204309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041324; longitude = -121.070109; captureRadius = 10; duration = 200; initialDepth = 587.934129; finalDepth = 589.204309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.017857 # Actual altitude: 80.017857 # Commanded vehicle depth: 589.204309 # Seafloor depth: -667.267508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 320.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.013639 meters # Minimum depth: 662.934129 meters looking forward 100.000000 meters along route # Maximum depth: 664.630094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 587.934129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041968; longitude = -121.069351; captureRadius = 10; duration = 200; initialDepth = 584.748405; finalDepth = 587.934129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0631990000001 # Actual altitude: 78.0631990000001 # Commanded vehicle depth: 587.934129 # Seafloor depth: -664.075760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 312.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.013304 meters # Minimum depth: 659.748405 meters looking forward 100.000000 meters along route # Maximum depth: 662.878966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.748405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042612; longitude = -121.068593; captureRadius = 10; duration = 200; initialDepth = 583.657541; finalDepth = 584.748405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1305609999999 # Actual altitude: 78.1305609999999 # Commanded vehicle depth: 584.748405 # Seafloor depth: -662.878966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 312.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.012969 meters # Minimum depth: 658.657541 meters looking forward 100.000000 meters along route # Maximum depth: 662.066498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.657541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043256; longitude = -121.067835; captureRadius = 10; duration = 200; initialDepth = 583.104056; finalDepth = 583.657541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.408957 # Actual altitude: 78.408957 # Commanded vehicle depth: 583.657541 # Seafloor depth: -662.066498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 313.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.012635 meters # Minimum depth: 658.104056 meters looking forward 100.000000 meters along route # Maximum depth: 660.178120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.104056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043900; longitude = -121.067077; captureRadius = 10; duration = 200; initialDepth = 584.352710; finalDepth = 583.104056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.408957 # Actual altitude: 78.408957 # Commanded vehicle depth: 583.104056 # Seafloor depth: -659.371185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 313.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.012300 meters # Minimum depth: 659.352710 meters looking forward 100.000000 meters along route # Maximum depth: 660.781082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.352710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044545; longitude = -121.066319; captureRadius = 10; duration = 200; initialDepth = 583.815579; finalDepth = 584.352710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.267129 # Actual altitude: 76.267129 # Commanded vehicle depth: 584.35271 # Seafloor depth: -659.564867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 305.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.011965 meters # Minimum depth: 658.815579 meters looking forward 100.000000 meters along route # Maximum depth: 660.535561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.815579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045189; longitude = -121.065561; captureRadius = 10; duration = 200; initialDepth = 584.069073; finalDepth = 583.815579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1146040000001 # Actual altitude: 76.1146040000001 # Commanded vehicle depth: 583.815579 # Seafloor depth: -659.930183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 304.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.011630 meters # Minimum depth: 659.069073 meters looking forward 100.000000 meters along route # Maximum depth: 661.281468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.069073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045833; longitude = -121.064803; captureRadius = 10; duration = 200; initialDepth = 583.419062; finalDepth = 584.069073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.524197 # Actual altitude: 76.524197 # Commanded vehicle depth: 584.069073 # Seafloor depth: -660.593270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 306.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.011296 meters # Minimum depth: 658.419062 meters looking forward 100.000000 meters along route # Maximum depth: 661.195930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.419062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046477; longitude = -121.064045; captureRadius = 10; duration = 200; initialDepth = 583.134558; finalDepth = 583.419062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7768679999999 # Actual altitude: 77.7768679999999 # Commanded vehicle depth: 583.419062 # Seafloor depth: -661.195930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; 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 11 # Segment length 100.010961 meters # Minimum depth: 658.134558 meters looking forward 100.000000 meters along route # Maximum depth: 659.904669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.134558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047121; longitude = -121.063287; captureRadius = 10; duration = 200; initialDepth = 574.707401; finalDepth = 583.134558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7768679999999 # Actual altitude: 77.7768679999999 # Commanded vehicle depth: 583.134558 # Seafloor depth: -658.242342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; 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 11 # Segment length 100.010626 meters # Minimum depth: 649.707401 meters looking forward 100.000000 meters along route # Maximum depth: 658.412264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.707401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047765; longitude = -121.062529; captureRadius = 10; duration = 200; initialDepth = 575.827506; finalDepth = 574.707401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.704863 # Actual altitude: 83.704863 # Commanded vehicle depth: 574.707401 # Seafloor depth: -658.412264 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 334.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.010292 meters # Minimum depth: 650.827506 meters looking forward 100.000000 meters along route # Maximum depth: 656.157068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 575.827506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048409; longitude = -121.061771; captureRadius = 10; duration = 200; initialDepth = 576.062901; finalDepth = 575.827506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.704863 # Actual altitude: 83.704863 # Commanded vehicle depth: 575.827506 # Seafloor depth: -650.827506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 334.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.009957 meters # Minimum depth: 651.062901 meters looking forward 100.000000 meters along route # Maximum depth: 658.052664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.062901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049053; longitude = -121.061013; captureRadius = 10; duration = 200; initialDepth = 583.100368; finalDepth = 576.062901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.001548 # Actual altitude: 81.001548 # Commanded vehicle depth: 576.062901 # Seafloor depth: -657.064449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 324.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.009623 meters # Minimum depth: 658.100368 meters looking forward 100.000000 meters along route # Maximum depth: 659.641965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 583.100368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049698; longitude = -121.060255; captureRadius = 10; duration = 200; initialDepth = 584.480134; finalDepth = 583.100368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.001548 # Actual altitude: 81.001548 # Commanded vehicle depth: 583.100368 # Seafloor depth: -658.100368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 324.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.009287 meters # Minimum depth: 659.480134 meters looking forward 100.000000 meters along route # Maximum depth: 664.157042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 584.480134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050342; longitude = -121.059498; captureRadius = 10; duration = 200; initialDepth = 589.712942; finalDepth = 584.480134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 584.480134 # Seafloor depth: -659.480134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.008954 meters # Minimum depth: 664.712942 meters looking forward 100.000000 meters along route # Maximum depth: 667.573942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.712942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050986; longitude = -121.058740; captureRadius = 10; duration = 200; initialDepth = 592.494871; finalDepth = 589.712942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 589.712942 # Seafloor depth: -664.712942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.008618 meters # Minimum depth: 667.494871 meters looking forward 100.000000 meters along route # Maximum depth: 670.120605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.494871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051630; longitude = -121.057982; captureRadius = 10; duration = 200; initialDepth = 594.823724; finalDepth = 592.494871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 592.494871 # Seafloor depth: -667.494871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.008284 meters # Minimum depth: 669.823724 meters looking forward 100.000000 meters along route # Maximum depth: 673.643587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.823724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052274; longitude = -121.057224; captureRadius = 10; duration = 200; initialDepth = 598.698677; finalDepth = 594.823724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.799946 # Actual altitude: 75.799946 # Commanded vehicle depth: 594.823724 # Seafloor depth: -670.623670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; 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 11 # Segment length 100.007949 meters # Minimum depth: 673.698677 meters looking forward 100.000000 meters along route # Maximum depth: 676.733660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.698677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052918; longitude = -121.056466; captureRadius = 10; duration = 200; initialDepth = 600.936230; finalDepth = 598.698677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.799946 # Actual altitude: 75.799946 # Commanded vehicle depth: 598.698677 # Seafloor depth: -673.698677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; 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 11 # Segment length 100.007615 meters # Minimum depth: 675.936230 meters looking forward 100.000000 meters along route # Maximum depth: 677.350176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 600.936230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053562; longitude = -121.055708; captureRadius = 10; duration = 200; initialDepth = 599.437314; finalDepth = 600.936230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.346309 # Actual altitude: 75.346309 # Commanded vehicle depth: 600.93623 # Seafloor depth: -676.282539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 301.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.007280 meters # Minimum depth: 674.437314 meters looking forward 100.000000 meters along route # Maximum depth: 676.938547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.437314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054206; longitude = -121.054950; captureRadius = 10; duration = 200; initialDepth = 599.273614; finalDepth = 599.437314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.427291 # Actual altitude: 77.427291 # Commanded vehicle depth: 599.437314 # Seafloor depth: -676.864605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 309.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.006946 meters # Minimum depth: 674.273614 meters looking forward 100.000000 meters along route # Maximum depth: 679.212511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.273614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054850; longitude = -121.054192; captureRadius = 10; duration = 200; initialDepth = 602.847734; finalDepth = 599.273614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.427291 # Actual altitude: 77.427291 # Commanded vehicle depth: 599.273614 # Seafloor depth: -674.273614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 309.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.006610 meters # Minimum depth: 677.847734 meters looking forward 100.000000 meters along route # Maximum depth: 680.683699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 602.847734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055495; longitude = -121.053434; captureRadius = 10; duration = 200; initialDepth = 606.430161; finalDepth = 602.847734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.541544 # Actual altitude: 76.541544 # Commanded vehicle depth: 602.847734 # Seafloor depth: -679.389278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.006277 meters # Minimum depth: 681.430161 meters looking forward 100.000000 meters along route # Maximum depth: 690.050219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.430161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056139; longitude = -121.052676; captureRadius = 10; duration = 200; initialDepth = 616.629829; finalDepth = 606.430161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.541544 # Actual altitude: 76.541544 # Commanded vehicle depth: 606.430161 # Seafloor depth: -681.430161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.005941 meters # Minimum depth: 691.629829 meters looking forward 100.000000 meters along route # Maximum depth: 699.258269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.629829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056783; longitude = -121.051918; captureRadius = 10; duration = 200; initialDepth = 625.922251; finalDepth = 616.629829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 616.629829 # Seafloor depth: -691.629829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.005608 meters # Minimum depth: 700.922251 meters looking forward 100.000000 meters along route # Maximum depth: 708.986059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 625.922251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057427; longitude = -121.051160; captureRadius = 10; duration = 200; initialDepth = 634.567924; finalDepth = 625.922251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 625.922251 # Seafloor depth: -700.922251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.005272 meters # Minimum depth: 709.567924 meters looking forward 100.000000 meters along route # Maximum depth: 717.555040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 634.567924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058071; longitude = -121.050402; captureRadius = 10; duration = 200; initialDepth = 638.921852; finalDepth = 634.567924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 634.567924 # Seafloor depth: -709.567924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.004938 meters # Minimum depth: 713.921852 meters looking forward 100.000000 meters along route # Maximum depth: 723.215828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 638.921852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058715; longitude = -121.049644; captureRadius = 10; duration = 200; initialDepth = 646.733004; finalDepth = 638.921852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9026220000001 # Actual altitude: 76.9026220000001 # Commanded vehicle depth: 638.921852 # Seafloor depth: -715.824474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 307.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.004604 meters # Minimum depth: 721.733004 meters looking forward 100.000000 meters along route # Maximum depth: 735.065442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 646.733004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059359; longitude = -121.048886; captureRadius = 10; duration = 200; initialDepth = 660.775002; finalDepth = 646.733004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9026220000001 # Actual altitude: 76.9026220000001 # Commanded vehicle depth: 646.733004 # Seafloor depth: -723.102668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 307.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.004268 meters # Minimum depth: 735.775002 meters looking forward 100.000000 meters along route # Maximum depth: 743.376308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 660.775002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060003; longitude = -121.048129; captureRadius = 10; duration = 200; initialDepth = 667.505889; finalDepth = 660.775002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3696639999999 # Actual altitude: 76.3696639999999 # Commanded vehicle depth: 660.775002 # Seafloor depth: -735.775002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 305.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.003935 meters # Minimum depth: 742.505889 meters looking forward 100.000000 meters along route # Maximum depth: 745.464579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 667.505889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060648; longitude = -121.047371; captureRadius = 10; duration = 200; initialDepth = 667.418499; finalDepth = 667.505889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.05601 # Actual altitude: 76.05601 # Commanded vehicle depth: 667.505889 # Seafloor depth: -743.561899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; 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 11 # Segment length 100.003600 meters # Minimum depth: 742.418499 meters looking forward 100.000000 meters along route # Maximum depth: 745.917492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 667.418499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061292; longitude = -121.046613; captureRadius = 10; duration = 200; initialDepth = 665.087525; finalDepth = 667.418499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3584049999999 # Actual altitude: 78.3584049999999 # Commanded vehicle depth: 667.418499 # Seafloor depth: -745.776904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 313.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.003265 meters # Minimum depth: 740.087525 meters looking forward 100.000000 meters along route # Maximum depth: 742.550360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 665.087525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061936; longitude = -121.045855; captureRadius = 10; duration = 200; initialDepth = 664.276114; finalDepth = 665.087525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3584049999999 # Actual altitude: 78.3584049999999 # Commanded vehicle depth: 665.087525 # Seafloor depth: -742.535041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 313.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.002931 meters # Minimum depth: 739.276114 meters looking forward 100.000000 meters along route # Maximum depth: 744.413981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 664.276114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062580; longitude = -121.045097; captureRadius = 10; duration = 200; initialDepth = 669.462389; finalDepth = 664.276114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.447516 # Actual altitude: 77.447516 # Commanded vehicle depth: 664.276114 # Seafloor depth: -739.292188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.002596 meters # Minimum depth: 744.462389 meters looking forward 100.000000 meters along route # Maximum depth: 752.479509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 669.462389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063224; longitude = -121.044339; captureRadius = 10; duration = 200; initialDepth = 677.622430; finalDepth = 669.462389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.016074 # Actual altitude: 75.016074 # Commanded vehicle depth: 669.462389 # Seafloor depth: -744.462389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.002262 meters # Minimum depth: 752.622430 meters looking forward 100.000000 meters along route # Maximum depth: 770.241112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 677.622430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063868; longitude = -121.043581; captureRadius = 10; duration = 200; initialDepth = 696.213939; finalDepth = 677.622430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 677.62243 # Seafloor depth: -752.622430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.001927 meters # Minimum depth: 771.213939 meters looking forward 100.000000 meters along route # Maximum depth: 799.617269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 696.213939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064512; longitude = -121.042823; captureRadius = 10; duration = 200; initialDepth = 725.989653; finalDepth = 696.213939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 696.213939 # Seafloor depth: -771.213939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.001593 meters # Minimum depth: 800.989653 meters looking forward 100.000000 meters along route # Maximum depth: 825.321408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 725.989653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065156; longitude = -121.042065; captureRadius = 10; duration = 200; initialDepth = 753.781140; finalDepth = 725.989653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 725.989653 # Seafloor depth: -800.989653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.314864 meters # Minimum depth: 828.781140 meters looking forward 100.000000 meters along route # Maximum depth: 865.065557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 753.781140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065800; longitude = -121.041307; captureRadius = 10; duration = 204; initialDepth = 748.524829; finalDepth = 753.781140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 753.78114 # Seafloor depth: -828.781140 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 10 # Segment length 142.813551 meters # Minimum depth: 823.524829 meters looking forward 100.000000 meters along route # Maximum depth: 865.846130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 748.524829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066460; longitude = -121.040532; captureRadius = 10; duration = 285; # abortOnTimeout = True; initialDepth = 720.596374; finalDepth = 748.524829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.321301 # Actual altitude: 100 # Commanded vehicle depth: 748.524829 # Seafloor depth: -865.846130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.843250 meters # Minimum depth: 795.596374 meters looking forward 100.000000 meters along route # Maximum depth: 821.270107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 720.596374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066289; longitude = -121.042065; captureRadius = 10; duration = 201; initialDepth = 700.968907; finalDepth = 720.596374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.321301 # Actual altitude: 100 # Commanded vehicle depth: 720.596374 # Seafloor depth: -821.270107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.843346 meters # Minimum depth: 775.968907 meters looking forward 100.000000 meters along route # Maximum depth: 795.332649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 700.968907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066168; longitude = -121.043148; captureRadius = 10; duration = 201; initialDepth = 682.806397; finalDepth = 700.968907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.673733 # Actual altitude: 100 # Commanded vehicle depth: 700.968907 # Seafloor depth: -795.332649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.449648 meters # Minimum depth: 757.806397 meters looking forward 100.000000 meters along route # Maximum depth: 774.601393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.806397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066048; longitude = -121.044231; captureRadius = 10; duration = 208; initialDepth = 682.014146; finalDepth = 682.806397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.363742 # Actual altitude: 94.363742 # Commanded vehicle depth: 682.806397 # Seafloor depth: -774.601393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.598784 meters # Minimum depth: 757.014146 meters looking forward 100.000000 meters along route # Maximum depth: 759.651207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.014146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065923; longitude = -121.045352; captureRadius = 10; duration = 201; initialDepth = 678.937069; finalDepth = 682.014146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 91.7949960000001 # Actual altitude: 91.7949960000001 # Commanded vehicle depth: 682.014146 # Seafloor depth: -757.514405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 92.235323 meters # Minimum depth: 753.937069 meters looking forward 100.000000 meters along route # Maximum depth: 764.089708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 678.937069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065803; longitude = -121.046432; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 689.554719; finalDepth = 678.937069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.065698 # Actual altitude: 77.065698 # Commanded vehicle depth: 678.937069 # Seafloor depth: -756.002767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 308.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.620067 meters # Minimum depth: 764.554719 meters looking forward 100.000000 meters along route # Maximum depth: 777.044148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 689.554719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066013; longitude = -121.047399; captureRadius = 10; duration = 201; initialDepth = 703.362776; finalDepth = 689.554719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.065698 # Actual altitude: 77.065698 # Commanded vehicle depth: 689.554719 # Seafloor depth: -764.554719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 308.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 110.202589 meters # Minimum depth: 778.362776 meters looking forward 100.000000 meters along route # Maximum depth: 786.897247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 703.362776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066243; longitude = -121.048453; captureRadius = 10; duration = 220; initialDepth = 710.224386; finalDepth = 703.362776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 703.362776 # Seafloor depth: -778.362776 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 8 # Segment length 181.597400 meters # Minimum depth: 785.224386 meters looking forward 100.000000 meters along route # Maximum depth: 790.445175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 710.224386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066494; longitude = -121.049608; captureRadius = 10; duration = 363; # abortOnTimeout = True; initialDepth = 713.265378; finalDepth = 710.224386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1528930000001 # Actual altitude: 77.1528930000001 # Commanded vehicle depth: 710.224386 # Seafloor depth: -787.377279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.959521 meters # Minimum depth: 788.265378 meters looking forward 100.000000 meters along route # Maximum depth: 790.727675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 713.265378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067095; longitude = -121.047779; captureRadius = 10; duration = 209; initialDepth = 699.774887; finalDepth = 713.265378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1700499999999 # Actual altitude: 77.1700499999999 # Commanded vehicle depth: 713.265378 # Seafloor depth: -790.435428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 308.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.876286 meters # Minimum depth: 774.774887 meters looking forward 100.000000 meters along route # Maximum depth: 787.549006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 699.774887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067443; longitude = -121.046721; captureRadius = 10; duration = 207; initialDepth = 699.065035; finalDepth = 699.774887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.7741189999999 # Actual altitude: 87.7741189999999 # Commanded vehicle depth: 699.774887 # Seafloor depth: -787.549006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.11; 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 7 # Segment length 103.310131 meters # Minimum depth: 774.065035 meters looking forward 100.000000 meters along route # Maximum depth: 779.117559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 699.065035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067787; longitude = -121.045674; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 705.662640; finalDepth = 699.065035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.7741189999999 # Actual altitude: 87.7741189999999 # Commanded vehicle depth: 699.065035 # Seafloor depth: -774.924805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.11; 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 7 # Segment length 109.975325 meters # Minimum depth: 780.662640 meters looking forward 100.000000 meters along route # Maximum depth: 806.875182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.662640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067808; longitude = -121.044555; captureRadius = 10; duration = 219; initialDepth = 735.113729; finalDepth = 705.662640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.85977 # Actual altitude: 75.85977 # Commanded vehicle depth: 705.66264 # Seafloor depth: -780.662640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 303.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.901476 meters # Minimum depth: 810.113729 meters looking forward 100.000000 meters along route # Maximum depth: 834.235933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 735.113729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067831; longitude = -121.043364; captureRadius = 10; duration = 209; initialDepth = 721.977681; finalDepth = 735.113729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 735.113729 # Seafloor depth: -810.113729 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 6 # Segment length 173.718595 meters # Minimum depth: 796.977681 meters looking forward 100.000000 meters along route # Maximum depth: 836.874969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 721.977681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067852; longitude = -121.042228; captureRadius = 10; duration = 347; # abortOnTimeout = True; initialDepth = 698.477039; finalDepth = 721.977681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.897288 # Actual altitude: 100 # Commanded vehicle depth: 721.977681 # Seafloor depth: -836.874969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.465182 meters # Minimum depth: 773.477039 meters looking forward 100.000000 meters along route # Maximum depth: 794.524288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 698.477039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066735; longitude = -121.043546; captureRadius = 10; duration = 208; initialDepth = 680.363687; finalDepth = 698.477039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.897288 # Actual altitude: 100 # Commanded vehicle depth: 698.477039 # Seafloor depth: -794.524288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.734221 meters # Minimum depth: 755.363687 meters looking forward 100.000000 meters along route # Maximum depth: 773.285560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 680.363687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066062; longitude = -121.044339; captureRadius = 10; duration = 211; initialDepth = 673.442186; finalDepth = 680.363687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.047249 # Actual altitude: 96.047249 # Commanded vehicle depth: 680.363687 # Seafloor depth: -773.285560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.42; 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 108.337411 meters # Minimum depth: 748.442186 meters looking forward 100.000000 meters along route # Maximum depth: 754.671109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 673.442186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065382; longitude = -121.045141; captureRadius = 10; duration = 216; initialDepth = 671.570102; finalDepth = 673.442186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.921873 # Actual altitude: 92.921873 # Commanded vehicle depth: 673.442186 # Seafloor depth: -754.671109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.863472 meters # Minimum depth: 746.570102 meters looking forward 100.000000 meters along route # Maximum depth: 748.145504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.570102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064685; longitude = -121.045963; captureRadius = 10; duration = 203; initialDepth = 672.121067; finalDepth = 671.570102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.228923 # Actual altitude: 81.228923 # Commanded vehicle depth: 671.570102 # Seafloor depth: -748.145504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 324.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 112.209694 meters # Minimum depth: 747.121067 meters looking forward 100.000000 meters along route # Maximum depth: 779.010163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 672.121067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064029; longitude = -121.046736; captureRadius = 10; duration = 224; initialDepth = 704.030573; finalDepth = 672.121067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5754019999999 # Actual altitude: 76.5754019999999 # Commanded vehicle depth: 672.121067 # Seafloor depth: -747.121067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 306.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 112.006211 meters # Minimum depth: 779.030573 meters looking forward 100.000000 meters along route # Maximum depth: 801.261894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 704.030573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063307; longitude = -121.047587; captureRadius = 10; duration = 224; initialDepth = 728.097517; finalDepth = 704.030573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 704.030573 # Seafloor depth: -779.030573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.068491 meters # Minimum depth: 803.097517 meters looking forward 100.000000 meters along route # Maximum depth: 815.445622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 728.097517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062587; longitude = -121.048437; captureRadius = 10; duration = 204; initialDepth = 732.668045; finalDepth = 728.097517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 728.097517 # Seafloor depth: -803.097517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.135450 meters # Minimum depth: 807.668045 meters looking forward 100.000000 meters along route # Maximum depth: 816.074176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 732.668045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061930; longitude = -121.049211; captureRadius = 10; duration = 216; initialDepth = 725.416316; finalDepth = 732.668045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.02269 # Actual altitude: 83.02269 # Commanded vehicle depth: 732.668045 # Seafloor depth: -815.690735 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.940786 meters # Minimum depth: 800.416316 meters looking forward 100.000000 meters along route # Maximum depth: 806.221253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 725.416316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061234; longitude = -121.050032; captureRadius = 10; duration = 211; initialDepth = 713.805030; finalDepth = 725.416316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.02269 # Actual altitude: 83.02269 # Commanded vehicle depth: 725.416316 # Seafloor depth: -806.221253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.264635 meters # Minimum depth: 788.805030 meters looking forward 100.000000 meters along route # Maximum depth: 800.225731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 713.805030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060552; longitude = -121.050835; captureRadius = 10; duration = 208; initialDepth = 694.503222; finalDepth = 713.805030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.349495 # Actual altitude: 86.349495 # Commanded vehicle depth: 713.80503 # Seafloor depth: -800.154525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.54; MB_Bottom_Detect_Filter_Max_Range = 345.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.813136 meters # Minimum depth: 769.503222 meters looking forward 100.000000 meters along route # Maximum depth: 787.611548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 694.503222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059881; longitude = -121.051626; captureRadius = 10; duration = 219; initialDepth = 662.729860; finalDepth = 694.503222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.1083259999999 # Actual altitude: 93.1083259999999 # Commanded vehicle depth: 694.503222 # Seafloor depth: -787.611548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; 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 100.393765 meters # Minimum depth: 737.729860 meters looking forward 100.000000 meters along route # Maximum depth: 768.352545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.729860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059175; longitude = -121.052460; captureRadius = 10; duration = 200; initialDepth = 636.927916; finalDepth = 662.729860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.622685 # Actual altitude: 100 # Commanded vehicle depth: 662.72986 # Seafloor depth: -768.352545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 112.110953 meters # Minimum depth: 711.927916 meters looking forward 100.000000 meters along route # Maximum depth: 737.592391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 636.927916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058529; longitude = -121.053221; captureRadius = 10; duration = 224; initialDepth = 624.178555; finalDepth = 636.927916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.622685 # Actual altitude: 100 # Commanded vehicle depth: 636.927916 # Seafloor depth: -737.592391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.478790 meters # Minimum depth: 699.178555 meters looking forward 100.000000 meters along route # Maximum depth: 708.004698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 624.178555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057807; longitude = -121.054072; captureRadius = 10; duration = 202; initialDepth = 619.875916; finalDepth = 624.178555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.664475 # Actual altitude: 100 # Commanded vehicle depth: 624.178555 # Seafloor depth: -708.004698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 108.730380 meters # Minimum depth: 694.875916 meters looking forward 100.000000 meters along route # Maximum depth: 699.352585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.875916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057154; longitude = -121.054842; captureRadius = 10; duration = 217; initialDepth = 619.485160; finalDepth = 619.875916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.826143 # Actual altitude: 83.826143 # Commanded vehicle depth: 619.875916 # Seafloor depth: -699.352585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 335.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.351178 meters # Minimum depth: 694.485160 meters looking forward 100.000000 meters along route # Maximum depth: 695.886834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.485160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056455; longitude = -121.055667; captureRadius = 10; duration = 210; initialDepth = 620.088570; finalDepth = 619.485160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.476669 # Actual altitude: 79.476669 # Commanded vehicle depth: 619.48516 # Seafloor depth: -694.571477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 317.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.859473 meters # Minimum depth: 695.088570 meters looking forward 100.000000 meters along route # Maximum depth: 698.525948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 620.088570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055777; longitude = -121.056466; captureRadius = 10; duration = 209; initialDepth = 618.939426; finalDepth = 620.088570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.086317 # Actual altitude: 75.086317 # Commanded vehicle depth: 620.08857 # Seafloor depth: -695.108460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.223620 meters # Minimum depth: 693.939426 meters looking forward 100.000000 meters along route # Maximum depth: 697.972789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 618.939426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055102; longitude = -121.057261; captureRadius = 10; duration = 218; initialDepth = 616.998444; finalDepth = 618.939426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.033363 # Actual altitude: 79.033363 # Commanded vehicle depth: 618.939426 # Seafloor depth: -697.972789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 316.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.988511 meters # Minimum depth: 691.998444 meters looking forward 100.000000 meters along route # Maximum depth: 696.108131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 616.998444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054399; longitude = -121.058090; captureRadius = 10; duration = 201; initialDepth = 604.553293; finalDepth = 616.998444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.109687 # Actual altitude: 79.109687 # Commanded vehicle depth: 616.998444 # Seafloor depth: -696.108131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 316.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 112.113741 meters # Minimum depth: 679.553293 meters looking forward 100.000000 meters along route # Maximum depth: 692.702870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 604.553293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053750; longitude = -121.058856; captureRadius = 10; duration = 224; initialDepth = 596.056892; finalDepth = 604.553293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.1495769999999 # Actual altitude: 88.1495769999999 # Commanded vehicle depth: 604.553293 # Seafloor depth: -692.702870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.889062 meters # Minimum depth: 671.056892 meters looking forward 100.000000 meters along route # Maximum depth: 678.930477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.056892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053028; longitude = -121.059707; captureRadius = 10; duration = 201; initialDepth = 592.639305; finalDepth = 596.056892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.1495769999999 # Actual altitude: 88.1495769999999 # Commanded vehicle depth: 596.056892 # Seafloor depth: -678.930477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.325339 meters # Minimum depth: 667.639305 meters looking forward 100.000000 meters along route # Maximum depth: 671.412127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.639305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052379; longitude = -121.060472; captureRadius = 10; duration = 218; initialDepth = 596.666180; finalDepth = 592.639305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.873585 # Actual altitude: 82.873585 # Commanded vehicle depth: 592.639305 # Seafloor depth: -671.145305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 331.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.761541 meters # Minimum depth: 671.666180 meters looking forward 100.000000 meters along route # Maximum depth: 674.565915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.666180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051676; longitude = -121.061301; captureRadius = 10; duration = 209; initialDepth = 589.947414; finalDepth = 596.666180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.506 # Actual altitude: 78.506 # Commanded vehicle depth: 596.66618 # Seafloor depth: -671.666180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 314.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.454340 meters # Minimum depth: 664.947414 meters looking forward 100.000000 meters along route # Maximum depth: 673.768194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.947414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051002; longitude = -121.062096; captureRadius = 10; duration = 210; initialDepth = 588.000415; finalDepth = 589.947414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.82078 # Actual altitude: 83.82078 # Commanded vehicle depth: 589.947414 # Seafloor depth: -673.768194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 335.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 108.634075 meters # Minimum depth: 663.000415 meters looking forward 100.000000 meters along route # Maximum depth: 666.421172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 588.000415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050323; longitude = -121.062896; captureRadius = 10; duration = 217; initialDepth = 589.461270; finalDepth = 588.000415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.82078 # Actual altitude: 83.82078 # Commanded vehicle depth: 588.000415 # Seafloor depth: -666.421172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 335.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.583286 meters # Minimum depth: 664.461270 meters looking forward 100.000000 meters along route # Maximum depth: 671.221008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.461270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049624; longitude = -121.063720; captureRadius = 10; duration = 203; initialDepth = 595.017443; finalDepth = 589.461270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.420757 # Actual altitude: 78.420757 # Commanded vehicle depth: 589.46127 # Seafloor depth: -664.461270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 313.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 112.506665 meters # Minimum depth: 670.017443 meters looking forward 100.000000 meters along route # Maximum depth: 671.054924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.017443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048970; longitude = -121.064491; captureRadius = 10; duration = 225; initialDepth = 594.628542; finalDepth = 595.017443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 595.017443 # Seafloor depth: -670.017443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 111.726819 meters # Minimum depth: 669.628542 meters looking forward 100.000000 meters along route # Maximum depth: 671.670859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.628542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048247; longitude = -121.065344; captureRadius = 10; duration = 223; initialDepth = 592.502627; finalDepth = 594.628542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.300834 # Actual altitude: 76.300834 # Commanded vehicle depth: 594.628542 # Seafloor depth: -670.929376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 305.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.364668 meters # Minimum depth: 667.502627 meters looking forward 100.000000 meters along route # Maximum depth: 671.045979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.502627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047528; longitude = -121.066192; captureRadius = 10; duration = 204; initialDepth = 592.642117; finalDepth = 592.502627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.543352 # Actual altitude: 78.543352 # Commanded vehicle depth: 592.502627 # Seafloor depth: -671.045979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.855753 meters # Minimum depth: 667.642117 meters looking forward 100.000000 meters along route # Maximum depth: 669.657403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 592.642117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046869; longitude = -121.066969; captureRadius = 10; duration = 215; initialDepth = 593.466926; finalDepth = 592.642117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.543352 # Actual altitude: 78.543352 # Commanded vehicle depth: 592.642117 # Seafloor depth: -668.449844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.237269 meters # Minimum depth: 668.466926 meters looking forward 100.000000 meters along route # Maximum depth: 670.708634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.466926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046175; longitude = -121.067787; captureRadius = 10; duration = 212; initialDepth = 594.686024; finalDepth = 593.466926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.807727 # Actual altitude: 75.807727 # Commanded vehicle depth: 593.466926 # Seafloor depth: -668.932078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; 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 6 # Segment length 103.984633 meters # Minimum depth: 669.686024 meters looking forward 100.000000 meters along route # Maximum depth: 671.933078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 594.686024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045491; longitude = -121.068593; captureRadius = 10; duration = 207; initialDepth = 595.571825; finalDepth = 594.686024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.914767 # Actual altitude: 75.914767 # Commanded vehicle depth: 594.686024 # Seafloor depth: -670.600791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; 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 6 # Segment length 110.109925 meters # Minimum depth: 670.571825 meters looking forward 100.000000 meters along route # Maximum depth: 672.511709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.571825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044822; longitude = -121.069382; captureRadius = 10; duration = 220; initialDepth = 596.025958; finalDepth = 595.571825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.914767 # Actual altitude: 75.914767 # Commanded vehicle depth: 595.571825 # Seafloor depth: -671.119819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; 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 6 # Segment length 100.113458 meters # Minimum depth: 671.025958 meters looking forward 100.000000 meters along route # Maximum depth: 674.029327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 596.025958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044114; longitude = -121.070217; captureRadius = 10; duration = 200; initialDepth = 597.874127; finalDepth = 596.025958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1935810000001 # Actual altitude: 76.1935810000001 # Commanded vehicle depth: 596.025958 # Seafloor depth: -672.219539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; 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 6 # Segment length 112.119742 meters # Minimum depth: 672.874127 meters looking forward 100.000000 meters along route # Maximum depth: 675.289326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.874127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043470; longitude = -121.070976; captureRadius = 10; duration = 224; initialDepth = 599.627198; finalDepth = 597.874127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1935810000001 # Actual altitude: 76.1935810000001 # Commanded vehicle depth: 597.874127 # Seafloor depth: -674.043439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; 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 6 # Segment length 101.774930 meters # Minimum depth: 674.627198 meters looking forward 100.000000 meters along route # Maximum depth: 679.838735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.627198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042748; longitude = -121.071827; captureRadius = 10; duration = 203; initialDepth = 604.596330; finalDepth = 599.627198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.169312 # Actual altitude: 76.169312 # Commanded vehicle depth: 599.627198 # Seafloor depth: -675.560521 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 304.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 108.450723 meters # Minimum depth: 679.596330 meters looking forward 100.000000 meters along route # Maximum depth: 683.887083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 604.596330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042094; longitude = -121.072599; captureRadius = 10; duration = 216; initialDepth = 608.573975; finalDepth = 604.596330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.933323 # Actual altitude: 75.933323 # Commanded vehicle depth: 604.59633 # Seafloor depth: -679.596330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.647623 meters # Minimum depth: 683.573975 meters looking forward 100.000000 meters along route # Maximum depth: 685.576294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.573975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041396; longitude = -121.073422; captureRadius = 10; duration = 211; initialDepth = 608.476157; finalDepth = 608.573975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.301158 # Actual altitude: 75.301158 # Commanded vehicle depth: 608.573975 # Seafloor depth: -683.875133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.579511 meters # Minimum depth: 683.476157 meters looking forward 100.000000 meters along route # Maximum depth: 696.852635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.476157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040716; longitude = -121.074223; captureRadius = 10; duration = 209; initialDepth = 622.493620; finalDepth = 608.476157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.301158 # Actual altitude: 75.301158 # Commanded vehicle depth: 608.476157 # Seafloor depth: -683.476157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.520372 meters # Minimum depth: 697.493620 meters looking forward 100.000000 meters along route # Maximum depth: 716.303740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 622.493620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040043; longitude = -121.075016; captureRadius = 10; duration = 219; initialDepth = 644.667912; finalDepth = 622.493620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 622.49362 # Seafloor depth: -697.493620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.708243 meters # Minimum depth: 719.667912 meters looking forward 100.000000 meters along route # Maximum depth: 747.073186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.667912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039339; longitude = -121.075847; captureRadius = 10; duration = 201; initialDepth = 672.334930; finalDepth = 644.667912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 644.667912 # Seafloor depth: -719.667912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 112.122533 meters # Minimum depth: 747.334930 meters looking forward 100.000000 meters along route # Maximum depth: 768.208747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 672.334930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038691; longitude = -121.076611; captureRadius = 10; duration = 224; initialDepth = 696.185070; finalDepth = 672.334930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 672.33493 # Seafloor depth: -747.334930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.185162 meters # Minimum depth: 771.185070 meters looking forward 100.000000 meters along route # Maximum depth: 792.282830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 696.185070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037969; longitude = -121.077462; captureRadius = 10; duration = 202; initialDepth = 718.159307; finalDepth = 696.185070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 696.18507 # Seafloor depth: -771.185070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.045723 meters # Minimum depth: 793.159307 meters looking forward 100.000000 meters along route # Maximum depth: 813.963927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 718.159307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037318; longitude = -121.078229; captureRadius = 10; duration = 218; initialDepth = 740.592910; finalDepth = 718.159307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 718.159307 # Seafloor depth: -793.159307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.057948 meters # Minimum depth: 815.592910 meters looking forward 100.000000 meters along route # Maximum depth: 835.944052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 740.592910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036617; longitude = -121.079057; captureRadius = 10; duration = 210; initialDepth = 762.344275; finalDepth = 740.592910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 740.59291 # Seafloor depth: -815.592910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.174419 meters # Minimum depth: 837.344275 meters looking forward 100.000000 meters along route # Maximum depth: 850.980264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.344275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035941; longitude = -121.079853; captureRadius = 10; duration = 210; initialDepth = 776.457072; finalDepth = 762.344275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 762.344275 # Seafloor depth: -837.344275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.930788 meters # Minimum depth: 851.457072 meters looking forward 100.000000 meters along route # Maximum depth: 865.073246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.457072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035264; longitude = -121.080651; captureRadius = 10; duration = 217; initialDepth = 792.286354; finalDepth = 776.457072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 776.457072 # Seafloor depth: -851.457072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.303059 meters # Minimum depth: 867.286354 meters looking forward 100.000000 meters along route # Maximum depth: 877.835787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 792.286354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034563; longitude = -121.081478; captureRadius = 10; duration = 202; initialDepth = 803.056214; finalDepth = 792.286354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 792.286354 # Seafloor depth: -867.286354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 112.125324 meters # Minimum depth: 878.056214 meters looking forward 100.000000 meters along route # Maximum depth: 889.546798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 803.056214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033912; longitude = -121.082246; captureRadius = 10; duration = 224; initialDepth = 816.672402; finalDepth = 803.056214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 803.056214 # Seafloor depth: -878.056214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.595366 meters # Minimum depth: 891.672402 meters looking forward 100.000000 meters along route # Maximum depth: 902.512070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 816.672402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033190; longitude = -121.083097; captureRadius = 10; duration = 201; initialDepth = 827.867310; finalDepth = 816.672402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 816.672402 # Seafloor depth: -891.672402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.640753 meters # Minimum depth: 902.867310 meters looking forward 100.000000 meters along route # Maximum depth: 913.918014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 827.867310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032543; longitude = -121.083860; captureRadius = 10; duration = 219; initialDepth = 839.879350; finalDepth = 827.867310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 827.86731 # Seafloor depth: -902.867310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.468244 meters # Minimum depth: 914.879350 meters looking forward 100.000000 meters along route # Maximum depth: 922.516181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 839.879350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031838; longitude = -121.084691; captureRadius = 10; duration = 208; initialDepth = 847.711605; finalDepth = 839.879350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 839.87935 # Seafloor depth: -914.879350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.769355 meters # Minimum depth: 922.711605 meters looking forward 100.000000 meters along route # Maximum depth: 932.011818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 847.711605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031165; longitude = -121.085484; captureRadius = 10; duration = 211; initialDepth = 857.280469; finalDepth = 847.711605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 847.711605 # Seafloor depth: -922.711605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.341177 meters # Minimum depth: 932.280469 meters looking forward 100.000000 meters along route # Maximum depth: 941.064199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 857.280469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030485; longitude = -121.086286; captureRadius = 10; duration = 216; initialDepth = 865.887788; finalDepth = 857.280469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 857.280469 # Seafloor depth: -932.280469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.897905 meters # Minimum depth: 940.887788 meters looking forward 100.000000 meters along route # Maximum depth: 949.197569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.887788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029788; longitude = -121.087108; captureRadius = 10; duration = 203; initialDepth = 874.457581; finalDepth = 865.887788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 865.887788 # Seafloor depth: -940.887788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.456102 meters # Minimum depth: 949.457581 meters looking forward 100.000000 meters along route # Maximum depth: 958.483069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.457581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029132; longitude = -121.087881; captureRadius = 10; duration = 214; initialDepth = 877.422872; finalDepth = 874.457581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 874.457581 # Seafloor depth: -949.457581 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 124.411215 meters # Minimum depth: 952.422872 meters looking forward 100.000000 meters along route # Maximum depth: 959.619141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 877.422872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028441; longitude = -121.088696; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 871.736589; finalDepth = 877.422872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.196269 # Actual altitude: 82.196269 # Commanded vehicle depth: 877.422872 # Seafloor depth: -959.619141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 328.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.859491 meters # Minimum depth: 946.736589 meters looking forward 100.000000 meters along route # Maximum depth: 952.303597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 871.736589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029403; longitude = -121.089389; captureRadius = 10; duration = 217; initialDepth = 870.007752; finalDepth = 871.736589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 82.196269 # Actual altitude: 82.196269 # Commanded vehicle depth: 871.736589 # Seafloor depth: -952.303597 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 328.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 166.017666 meters # Minimum depth: 945.007752 meters looking forward 100.000000 meters along route # Maximum depth: 949.236675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 870.007752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030244; longitude = -121.089995; captureRadius = 10; duration = 332; # abortOnTimeout = True; initialDepth = 865.448968; finalDepth = 870.007752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.567008 # Actual altitude: 80.567008 # Commanded vehicle depth: 870.007752 # Seafloor depth: -947.457194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 322.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.451372 meters # Minimum depth: 940.448968 meters looking forward 100.000000 meters along route # Maximum depth: 944.862773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.448968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031309; longitude = -121.088732; captureRadius = 10; duration = 220; initialDepth = 858.592933; finalDepth = 865.448968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4138049999999 # Actual altitude: 79.4138049999999 # Commanded vehicle depth: 865.448968 # Seafloor depth: -944.862773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.998550 meters # Minimum depth: 933.592933 meters looking forward 100.000000 meters along route # Maximum depth: 939.469929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.592933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032018; longitude = -121.087892; captureRadius = 10; duration = 205; initialDepth = 851.321102; finalDepth = 858.592933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.876996 # Actual altitude: 80.876996 # Commanded vehicle depth: 858.592933 # Seafloor depth: -939.469929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 323.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.865937 meters # Minimum depth: 926.321102 meters looking forward 100.000000 meters along route # Maximum depth: 933.471302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.321102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032679; longitude = -121.087108; captureRadius = 10; duration = 215; initialDepth = 840.375251; finalDepth = 851.321102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1502 # Actual altitude: 82.1502 # Commanded vehicle depth: 851.321102 # Seafloor depth: -933.471302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 328.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.582453 meters # Minimum depth: 915.375251 meters looking forward 100.000000 meters along route # Maximum depth: 925.550305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 840.375251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033370; longitude = -121.086287; captureRadius = 10; duration = 211; initialDepth = 829.140185; finalDepth = 840.375251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1750539999999 # Actual altitude: 85.1750539999999 # Commanded vehicle depth: 840.375251 # Seafloor depth: -925.550305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.07; MB_Bottom_Detect_Filter_Max_Range = 340.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.280539 meters # Minimum depth: 904.140185 meters looking forward 100.000000 meters along route # Maximum depth: 915.307430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 829.140185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034048; longitude = -121.085484; captureRadius = 10; duration = 210; initialDepth = 818.889612; finalDepth = 829.140185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.167245 # Actual altitude: 86.167245 # Commanded vehicle depth: 829.140185 # Seafloor depth: -915.307430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 344.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 108.166319 meters # Minimum depth: 893.889612 meters looking forward 100.000000 meters along route # Maximum depth: 903.563007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.889612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034723; longitude = -121.084683; captureRadius = 10; duration = 216; initialDepth = 805.889750; finalDepth = 818.889612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.167245 # Actual altitude: 86.167245 # Commanded vehicle depth: 818.889612 # Seafloor depth: -903.563007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 344.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.695178 meters # Minimum depth: 880.889750 meters looking forward 100.000000 meters along route # Maximum depth: 892.791477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 805.889750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035417; longitude = -121.083860; captureRadius = 10; duration = 205; initialDepth = 791.816936; finalDepth = 805.889750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.9017269999999 # Actual altitude: 86.9017269999999 # Commanded vehicle depth: 805.88975 # Seafloor depth: -892.791477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 347.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.750148 meters # Minimum depth: 866.816936 meters looking forward 100.000000 meters along route # Maximum depth: 880.624392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 791.816936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036076; longitude = -121.083078; captureRadius = 10; duration = 221; initialDepth = 772.685480; finalDepth = 791.816936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.8074559999999 # Actual altitude: 88.8074559999999 # Commanded vehicle depth: 791.816936 # Seafloor depth: -880.624392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.109853 meters # Minimum depth: 847.685480 meters looking forward 100.000000 meters along route # Maximum depth: 864.238667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 772.685480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036786; longitude = -121.082236; captureRadius = 10; duration = 200; initialDepth = 755.970189; finalDepth = 772.685480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.553187 # Actual altitude: 91.553187 # Commanded vehicle depth: 772.68548 # Seafloor depth: -864.238667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.62; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 112.458056 meters # Minimum depth: 830.970189 meters looking forward 100.000000 meters along route # Maximum depth: 847.563713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 755.970189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037428; longitude = -121.081474; captureRadius = 10; duration = 224; initialDepth = 734.858221; finalDepth = 755.970189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.593524 # Actual altitude: 91.593524 # Commanded vehicle depth: 755.970189 # Seafloor depth: -847.563713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.482465 meters # Minimum depth: 809.858221 meters looking forward 100.000000 meters along route # Maximum depth: 828.491761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 734.858221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038150; longitude = -121.080618; captureRadius = 10; duration = 200; initialDepth = 717.623330; finalDepth = 734.858221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.63354 # Actual altitude: 93.63354 # Commanded vehicle depth: 734.858221 # Seafloor depth: -828.491761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.375245 meters # Minimum depth: 792.623330 meters looking forward 100.000000 meters along route # Maximum depth: 809.658749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.623330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038794; longitude = -121.079853; captureRadius = 10; duration = 220; initialDepth = 693.861236; finalDepth = 717.623330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.63354 # Actual altitude: 93.63354 # Commanded vehicle depth: 717.62333 # Seafloor depth: -809.658749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.066302 meters # Minimum depth: 768.861236 meters looking forward 100.000000 meters along route # Maximum depth: 791.140731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 693.861236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039502; longitude = -121.079014; captureRadius = 10; duration = 206; initialDepth = 672.563544; finalDepth = 693.861236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.279495 # Actual altitude: 97.279495 # Commanded vehicle depth: 693.861236 # Seafloor depth: -791.140731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.789912 meters # Minimum depth: 747.563544 meters looking forward 100.000000 meters along route # Maximum depth: 767.303021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 672.563544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040163; longitude = -121.078229; captureRadius = 10; duration = 215; initialDepth = 655.643208; finalDepth = 672.563544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.279495 # Actual altitude: 97.279495 # Commanded vehicle depth: 672.563544 # Seafloor depth: -767.303021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.650103 meters # Minimum depth: 730.643208 meters looking forward 100.000000 meters along route # Maximum depth: 746.548550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 655.643208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040855; longitude = -121.077409; captureRadius = 10; duration = 211; initialDepth = 643.155662; finalDepth = 655.643208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.739477 # Actual altitude: 94.739477 # Commanded vehicle depth: 655.643208 # Seafloor depth: -746.548550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.204616 meters # Minimum depth: 718.155662 meters looking forward 100.000000 meters along route # Maximum depth: 729.927191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 643.155662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041533; longitude = -121.076605; captureRadius = 10; duration = 210; initialDepth = 625.300382; finalDepth = 643.155662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.905342 # Actual altitude: 90.905342 # Commanded vehicle depth: 643.155662 # Seafloor depth: -729.927191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.36; 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 4 # Segment length 108.233867 meters # Minimum depth: 700.300382 meters looking forward 100.000000 meters along route # Maximum depth: 718.650564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 625.300382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042207; longitude = -121.075805; captureRadius = 10; duration = 216; initialDepth = 626.138713; finalDepth = 625.300382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.350182 # Actual altitude: 93.350182 # Commanded vehicle depth: 625.300382 # Seafloor depth: -718.650564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.619357 meters # Minimum depth: 701.138713 meters looking forward 100.000000 meters along route # Maximum depth: 707.973874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 626.138713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042902; longitude = -121.074981; captureRadius = 10; duration = 205; initialDepth = 623.678946; finalDepth = 626.138713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.350182 # Actual altitude: 93.350182 # Commanded vehicle depth: 626.138713 # Seafloor depth: -701.138713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.817595 meters # Minimum depth: 698.678946 meters looking forward 100.000000 meters along route # Maximum depth: 705.251468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 623.678946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043560; longitude = -121.074200; captureRadius = 10; duration = 221; initialDepth = 619.814453; finalDepth = 623.678946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.572522 # Actual altitude: 81.572522 # Commanded vehicle depth: 623.678946 # Seafloor depth: -705.251468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 326.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.034134 meters # Minimum depth: 694.814453 meters looking forward 100.000000 meters along route # Maximum depth: 697.901309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.814453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044271; longitude = -121.073357; captureRadius = 10; duration = 200; initialDepth = 615.789656; finalDepth = 619.814453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.572522 # Actual altitude: 81.572522 # Commanded vehicle depth: 619.814453 # Seafloor depth: -697.901309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 326.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 113.401286 meters # Minimum depth: 690.789656 meters looking forward 100.000000 meters along route # Maximum depth: 694.881746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 615.789656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044913; longitude = -121.072596; captureRadius = 10; duration = 226; initialDepth = 608.437701; finalDepth = 615.789656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.09209 # Actual altitude: 79.09209 # Commanded vehicle depth: 615.789656 # Seafloor depth: -694.881746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 316.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.505578 meters # Minimum depth: 683.437701 meters looking forward 100.000000 meters along route # Maximum depth: 693.850606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 608.437701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045640; longitude = -121.071733; captureRadius = 10; duration = 223; initialDepth = 605.699048; finalDepth = 608.437701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.412905 # Actual altitude: 85.412905 # Commanded vehicle depth: 608.437701 # Seafloor depth: -693.850606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.17; MB_Bottom_Detect_Filter_Max_Range = 341.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.928311 meters # Minimum depth: 680.699048 meters looking forward 100.000000 meters along route # Maximum depth: 685.797550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.699048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046355; longitude = -121.070884; captureRadius = 10; duration = 203; initialDepth = 599.586444; finalDepth = 605.699048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.412905 # Actual altitude: 85.412905 # Commanded vehicle depth: 605.699048 # Seafloor depth: -684.879577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.17; MB_Bottom_Detect_Filter_Max_Range = 341.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 108.920330 meters # Minimum depth: 674.586444 meters looking forward 100.000000 meters along route # Maximum depth: 680.611414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 599.586444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047009; longitude = -121.070109; captureRadius = 10; duration = 217; initialDepth = 595.753334; finalDepth = 599.586444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.0249699999999 # Actual altitude: 81.0249699999999 # Commanded vehicle depth: 599.586444 # Seafloor depth: -680.611414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 324.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.512026 meters # Minimum depth: 670.753334 meters looking forward 100.000000 meters along route # Maximum depth: 673.267610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.753334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047708; longitude = -121.069280; captureRadius = 10; duration = 209; initialDepth = 593.165832; finalDepth = 595.753334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.0249699999999 # Actual altitude: 81.0249699999999 # Commanded vehicle depth: 595.753334 # Seafloor depth: -673.267610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 324.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.335119 meters # Minimum depth: 668.165832 meters looking forward 100.000000 meters along route # Maximum depth: 670.484635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.165832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048378; longitude = -121.068484; captureRadius = 10; duration = 212; initialDepth = 593.767971; finalDepth = 593.165832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.514276 # Actual altitude: 77.514276 # Commanded vehicle depth: 593.165832 # Seafloor depth: -670.269544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.095707 meters # Minimum depth: 668.767971 meters looking forward 100.000000 meters along route # Maximum depth: 672.220592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.767971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049061; longitude = -121.067675; captureRadius = 10; duration = 214; initialDepth = 598.565536; finalDepth = 593.767971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.103712 # Actual altitude: 77.103712 # Commanded vehicle depth: 593.767971 # Seafloor depth: -669.019090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.749944 meters # Minimum depth: 673.565536 meters looking forward 100.000000 meters along route # Maximum depth: 680.978374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 598.565536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049748; longitude = -121.066860; captureRadius = 10; duration = 207; initialDepth = 606.164419; finalDepth = 598.565536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.251119 # Actual altitude: 75.251119 # Commanded vehicle depth: 598.565536 # Seafloor depth: -673.565536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 301.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 109.679350 meters # Minimum depth: 681.164419 meters looking forward 100.000000 meters along route # Maximum depth: 684.530565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 606.164419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050413; longitude = -121.066071; captureRadius = 10; duration = 219; initialDepth = 610.126373; finalDepth = 606.164419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 606.164419 # Seafloor depth: -681.164419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.164807 meters # Minimum depth: 685.126373 meters looking forward 100.000000 meters along route # Maximum depth: 688.656243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.126373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051117; longitude = -121.065236; captureRadius = 10; duration = 202; initialDepth = 613.730915; finalDepth = 610.126373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 610.126373 # Seafloor depth: -685.126373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 112.449605 meters # Minimum depth: 688.730915 meters looking forward 100.000000 meters along route # Maximum depth: 703.318331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 613.730915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051766; longitude = -121.064466; captureRadius = 10; duration = 224; initialDepth = 628.344174; finalDepth = 613.730915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 613.730915 # Seafloor depth: -688.730915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 113.640864 meters # Minimum depth: 703.344174 meters looking forward 100.000000 meters along route # Maximum depth: 718.208584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 628.344174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052487; longitude = -121.063611; captureRadius = 10; duration = 227; initialDepth = 643.298710; finalDepth = 628.344174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 628.344174 # Seafloor depth: -703.344174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 111.257072 meters # Minimum depth: 718.298710 meters looking forward 100.000000 meters along route # Maximum depth: 732.284753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 643.298710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053216; longitude = -121.062746; captureRadius = 10; duration = 222; initialDepth = 649.194627; finalDepth = 643.298710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 643.29871 # Seafloor depth: -718.298710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.168343 meters # Minimum depth: 724.194627 meters looking forward 100.000000 meters along route # Maximum depth: 731.097233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 649.194627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053930; longitude = -121.061899; captureRadius = 10; duration = 204; initialDepth = 653.903445; finalDepth = 649.194627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.902606 # Actual altitude: 81.902606 # Commanded vehicle depth: 649.194627 # Seafloor depth: -731.097233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 327.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 108.671928 meters # Minimum depth: 728.903445 meters looking forward 100.000000 meters along route # Maximum depth: 752.251216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 653.903445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054585; longitude = -121.061122; captureRadius = 10; duration = 217; initialDepth = 662.428754; finalDepth = 653.903445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.902606 # Actual altitude: 81.902606 # Commanded vehicle depth: 653.903445 # Seafloor depth: -728.903445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 327.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.751955 meters # Minimum depth: 737.428754 meters looking forward 100.000000 meters along route # Maximum depth: 753.104676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.428754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055283; longitude = -121.060295; captureRadius = 10; duration = 209; initialDepth = 662.703812; finalDepth = 662.428754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.516305 # Actual altitude: 90.516305 # Commanded vehicle depth: 662.428754 # Seafloor depth: -752.945059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.086822 meters # Minimum depth: 737.703812 meters looking forward 100.000000 meters along route # Maximum depth: 752.350574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.703812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055955; longitude = -121.059498; captureRadius = 10; duration = 212; initialDepth = 662.004192; finalDepth = 662.703812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.516305 # Actual altitude: 90.516305 # Commanded vehicle depth: 662.703812 # Seafloor depth: -737.703812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.335531 meters # Minimum depth: 737.004192 meters looking forward 100.000000 meters along route # Maximum depth: 753.746732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 662.004192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056635; longitude = -121.058690; captureRadius = 10; duration = 214; initialDepth = 636.123393; finalDepth = 662.004192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.1075530000001 # Actual altitude: 91.1075530000001 # Commanded vehicle depth: 662.004192 # Seafloor depth: -753.111745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.501751 meters # Minimum depth: 711.123393 meters looking forward 100.000000 meters along route # Maximum depth: 734.841519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 636.123393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057324; longitude = -121.057873; captureRadius = 10; duration = 207; initialDepth = 631.501300; finalDepth = 636.123393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.718126 # Actual altitude: 98.718126 # Commanded vehicle depth: 636.123393 # Seafloor depth: -734.841519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 109.919070 meters # Minimum depth: 706.501300 meters looking forward 100.000000 meters along route # Maximum depth: 710.791804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 631.501300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057988; longitude = -121.057086; captureRadius = 10; duration = 219; initialDepth = 631.327194; finalDepth = 631.501300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.718126 # Actual altitude: 98.718126 # Commanded vehicle depth: 631.5013 # Seafloor depth: -710.791804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.916719 meters # Minimum depth: 706.327194 meters looking forward 100.000000 meters along route # Maximum depth: 719.320994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 631.327194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058693; longitude = -121.056249; captureRadius = 10; duration = 201; initialDepth = 644.733623; finalDepth = 631.327194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2905039999999 # Actual altitude: 79.2905039999999 # Commanded vehicle depth: 631.327194 # Seafloor depth: -706.327194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.759937 meters # Minimum depth: 719.733623 meters looking forward 100.000000 meters along route # Maximum depth: 754.775774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.733623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059340; longitude = -121.055481; captureRadius = 10; duration = 215; initialDepth = 681.566406; finalDepth = 644.733623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 644.733623 # Seafloor depth: -719.733623 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 3 # Segment length 130.151889 meters # Minimum depth: 756.566406 meters looking forward 100.000000 meters along route # Maximum depth: 760.716203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 681.566406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060032; longitude = -121.054661; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 683.713562; finalDepth = 681.566406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.638916 # Actual altitude: 77.638916 # Commanded vehicle depth: 681.566406 # Seafloor depth: -759.205322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 310.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.120987 meters # Minimum depth: 758.713562 meters looking forward 100.000000 meters along route # Maximum depth: 772.523838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 683.713562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060783; longitude = -121.055744; captureRadius = 10; duration = 208; initialDepth = 677.617978; finalDepth = 683.713562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.638916 # Actual altitude: 77.638916 # Commanded vehicle depth: 683.713562 # Seafloor depth: -758.713562 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 310.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 80.633471 meters # Minimum depth: 752.617978 meters looking forward 100.000000 meters along route # Maximum depth: 773.066406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 677.617978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061384; longitude = -121.056610; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 668.207604; finalDepth = 677.617978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.448428 # Actual altitude: 95.448428 # Commanded vehicle depth: 677.617978 # Seafloor depth: -773.066406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.437463 meters # Minimum depth: 743.207604 meters looking forward 100.000000 meters along route # Maximum depth: 752.384837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 668.207604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060867; longitude = -121.057224; captureRadius = 10; duration = 222; initialDepth = 673.586358; finalDepth = 668.207604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.448428 # Actual altitude: 95.448428 # Commanded vehicle depth: 668.207604 # Seafloor depth: -752.384837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.005131 meters # Minimum depth: 748.586358 meters looking forward 100.000000 meters along route # Maximum depth: 759.654541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 673.586358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060152; longitude = -121.058072; captureRadius = 10; duration = 204; initialDepth = 685.333033; finalDepth = 673.586358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.177233 # Actual altitude: 84.177233 # Commanded vehicle depth: 673.586358 # Seafloor depth: -748.859177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 336.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.805859 meters # Minimum depth: 760.333033 meters looking forward 100.000000 meters along route # Maximum depth: 787.447450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 685.333033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059497; longitude = -121.058848; captureRadius = 10; duration = 217; initialDepth = 717.357413; finalDepth = 685.333033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.272819 # Actual altitude: 75.272819 # Commanded vehicle depth: 685.333033 # Seafloor depth: -760.333033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 301.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.638267 meters # Minimum depth: 792.357413 meters looking forward 100.000000 meters along route # Maximum depth: 821.359329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.357413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058799; longitude = -121.059676; captureRadius = 10; duration = 209; initialDepth = 748.036144; finalDepth = 717.357413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 717.357413 # Seafloor depth: -792.357413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.174216 meters # Minimum depth: 823.036144 meters looking forward 100.000000 meters along route # Maximum depth: 834.948415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 748.036144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058128; longitude = -121.060472; captureRadius = 10; duration = 212; initialDepth = 759.631335; finalDepth = 748.036144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 748.036144 # Seafloor depth: -823.036144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.271442 meters # Minimum depth: 834.631335 meters looking forward 100.000000 meters along route # Maximum depth: 838.791632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 759.631335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057447; longitude = -121.061280; captureRadius = 10; duration = 214; initialDepth = 754.519836; finalDepth = 759.631335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 759.631335 # Seafloor depth: -834.631335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.542535 meters # Minimum depth: 829.519836 meters looking forward 100.000000 meters along route # Maximum depth: 838.083956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 754.519836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056758; longitude = -121.062096; captureRadius = 10; duration = 207; initialDepth = 748.099236; finalDepth = 754.519836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.2164929999999 # Actual altitude: 83.2164929999999 # Commanded vehicle depth: 754.519836 # Seafloor depth: -837.736329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.904654 meters # Minimum depth: 823.099236 meters looking forward 100.000000 meters along route # Maximum depth: 828.204519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 748.099236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056094; longitude = -121.062884; captureRadius = 10; duration = 219; initialDepth = 717.676715; finalDepth = 748.099236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.2164929999999 # Actual altitude: 83.2164929999999 # Commanded vehicle depth: 748.099236 # Seafloor depth: -828.204519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.910818 meters # Minimum depth: 792.676715 meters looking forward 100.000000 meters along route # Maximum depth: 818.385888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.676715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055389; longitude = -121.063720; captureRadius = 10; duration = 201; initialDepth = 699.548489; finalDepth = 717.676715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.709173 # Actual altitude: 100 # Commanded vehicle depth: 717.676715 # Seafloor depth: -818.385888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 112.537902 meters # Minimum depth: 774.548489 meters looking forward 100.000000 meters along route # Maximum depth: 792.676574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 699.548489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054741; longitude = -121.064488; captureRadius = 10; duration = 225; initialDepth = 682.492718; finalDepth = 699.548489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.709173 # Actual altitude: 100 # Commanded vehicle depth: 699.548489 # Seafloor depth: -792.639947 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 113.839944 meters # Minimum depth: 757.492718 meters looking forward 100.000000 meters along route # Maximum depth: 774.532207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.492718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054019; longitude = -121.065344; captureRadius = 10; duration = 227; initialDepth = 680.586727; finalDepth = 682.492718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.091458 # Actual altitude: 93.091458 # Commanded vehicle depth: 682.492718 # Seafloor depth: -774.532207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.930015 meters # Minimum depth: 755.586727 meters looking forward 100.000000 meters along route # Maximum depth: 759.235811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 680.586727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053289; longitude = -121.066211; captureRadius = 10; duration = 221; initialDepth = 680.368275; finalDepth = 680.586727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.039489 # Actual altitude: 92.039489 # Commanded vehicle depth: 680.586727 # Seafloor depth: -757.471482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.521054 meters # Minimum depth: 755.368275 meters looking forward 100.000000 meters along route # Maximum depth: 759.885201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 680.368275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052577; longitude = -121.067055; captureRadius = 10; duration = 205; initialDepth = 677.056952; finalDepth = 680.368275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.41278 # Actual altitude: 77.41278 # Commanded vehicle depth: 680.368275 # Seafloor depth: -757.781055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; 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 2 # Segment length 108.298302 meters # Minimum depth: 752.056952 meters looking forward 100.000000 meters along route # Maximum depth: 754.993143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 677.056952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051920; longitude = -121.067835; captureRadius = 10; duration = 216; initialDepth = 671.304686; finalDepth = 677.056952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.936191 # Actual altitude: 77.936191 # Commanded vehicle depth: 677.056952 # Seafloor depth: -754.993143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; 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 2 # Segment length 105.154299 meters # Minimum depth: 746.304686 meters looking forward 100.000000 meters along route # Maximum depth: 752.284110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.304686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051225; longitude = -121.068659; captureRadius = 10; duration = 210; initialDepth = 659.148556; finalDepth = 671.304686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9794240000001 # Actual altitude: 80.9794240000001 # Commanded vehicle depth: 671.304686 # Seafloor depth: -752.284110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; 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 2 # Segment length 105.666551 meters # Minimum depth: 734.148556 meters looking forward 100.000000 meters along route # Maximum depth: 745.203548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 659.148556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050550; longitude = -121.069459; captureRadius = 10; duration = 211; initialDepth = 656.169820; finalDepth = 659.148556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.054992 # Actual altitude: 86.054992 # Commanded vehicle depth: 659.148556 # Seafloor depth: -745.203548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 344.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.787582 meters # Minimum depth: 731.169820 meters looking forward 100.000000 meters along route # Maximum depth: 733.634358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 656.169820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049872; longitude = -121.070263; captureRadius = 10; duration = 215; initialDepth = 652.616592; finalDepth = 656.169820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.054992 # Actual altitude: 86.054992 # Commanded vehicle depth: 656.16982 # Seafloor depth: -733.634358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 344.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.034763 meters # Minimum depth: 727.616592 meters looking forward 100.000000 meters along route # Maximum depth: 730.541895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 652.616592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049181; longitude = -121.071083; captureRadius = 10; duration = 206; initialDepth = 650.099447; finalDepth = 652.616592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.925303 # Actual altitude: 77.925303 # Commanded vehicle depth: 652.616592 # Seafloor depth: -730.541895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 311.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.420902 meters # Minimum depth: 725.099447 meters looking forward 100.000000 meters along route # Maximum depth: 728.295174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 650.099447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048520; longitude = -121.071867; captureRadius = 10; duration = 220; initialDepth = 641.840212; finalDepth = 650.099447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1957269999999 # Actual altitude: 78.1957269999999 # Commanded vehicle depth: 650.099447 # Seafloor depth: -728.295174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 312.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.402937 meters # Minimum depth: 716.840212 meters looking forward 100.000000 meters along route # Maximum depth: 725.245002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 641.840212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047811; longitude = -121.072707; captureRadius = 10; duration = 200; initialDepth = 644.435137; finalDepth = 641.840212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3741950000001 # Actual altitude: 83.3741950000001 # Commanded vehicle depth: 641.840212 # Seafloor depth: -725.214407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 333.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 112.439992 meters # Minimum depth: 719.435137 meters looking forward 100.000000 meters along route # Maximum depth: 722.815364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 644.435137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047167; longitude = -121.073471; captureRadius = 10; duration = 224; initialDepth = 648.861304; finalDepth = 644.435137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3741950000001 # Actual altitude: 83.3741950000001 # Commanded vehicle depth: 644.435137 # Seafloor depth: -719.435137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 333.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.228150 meters # Minimum depth: 723.861304 meters looking forward 100.000000 meters along route # Maximum depth: 732.130761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 648.861304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046446; longitude = -121.074327; captureRadius = 10; duration = 200; initialDepth = 657.172069; finalDepth = 648.861304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 648.861304 # Seafloor depth: -723.861304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.597980 meters # Minimum depth: 732.172069 meters looking forward 100.000000 meters along route # Maximum depth: 744.466853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 657.172069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045803; longitude = -121.075089; captureRadius = 10; duration = 221; initialDepth = 671.280742; finalDepth = 657.172069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 657.172069 # Seafloor depth: -732.172069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.861463 meters # Minimum depth: 746.280742 meters looking forward 100.000000 meters along route # Maximum depth: 758.563896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 671.280742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045093; longitude = -121.075931; captureRadius = 10; duration = 205; initialDepth = 682.217707; finalDepth = 671.280742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 671.280742 # Seafloor depth: -746.280742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.966162 meters # Minimum depth: 757.217707 meters looking forward 100.000000 meters along route # Maximum depth: 763.916054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.217707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044433; longitude = -121.076713; captureRadius = 10; duration = 215; initialDepth = 689.623053; finalDepth = 682.217707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.138393 # Actual altitude: 76.138393 # Commanded vehicle depth: 682.217707 # Seafloor depth: -758.356100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.494814 meters # Minimum depth: 764.623053 meters looking forward 100.000000 meters along route # Maximum depth: 775.106030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 689.623053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043740; longitude = -121.077535; captureRadius = 10; duration = 210; initialDepth = 698.711387; finalDepth = 689.623053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.138393 # Actual altitude: 76.138393 # Commanded vehicle depth: 689.623053 # Seafloor depth: -764.623053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.334305 meters # Minimum depth: 773.711387 meters looking forward 100.000000 meters along route # Maximum depth: 783.153775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 698.711387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043064; longitude = -121.078338; captureRadius = 10; duration = 210; initialDepth = 708.918330; finalDepth = 698.711387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 698.711387 # Seafloor depth: -773.711387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.128202 meters # Minimum depth: 783.918330 meters looking forward 100.000000 meters along route # Maximum depth: 795.715621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 708.918330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042388; longitude = -121.079139; captureRadius = 10; duration = 216; initialDepth = 721.628905; finalDepth = 708.918330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 708.91833 # Seafloor depth: -783.918330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.702412 meters # Minimum depth: 796.628905 meters looking forward 100.000000 meters along route # Maximum depth: 807.770096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 721.628905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041694; longitude = -121.079962; captureRadius = 10; duration = 205; initialDepth = 733.409540; finalDepth = 721.628905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 721.628905 # Seafloor depth: -796.628905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.761628 meters # Minimum depth: 808.409540 meters looking forward 100.000000 meters along route # Maximum depth: 823.214849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 733.409540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041035; longitude = -121.080743; captureRadius = 10; duration = 221; initialDepth = 750.773990; finalDepth = 733.409540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 733.40954 # Seafloor depth: -808.409540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.070480 meters # Minimum depth: 825.773990 meters looking forward 100.000000 meters along route # Maximum depth: 848.345528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 750.773990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040325; longitude = -121.081586; captureRadius = 10; duration = 200; initialDepth = 773.453564; finalDepth = 750.773990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 750.77399 # Seafloor depth: -825.773990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 113.395092 meters # Minimum depth: 848.453564 meters looking forward 100.000000 meters along route # Maximum depth: 869.605436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 773.453564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039683; longitude = -121.082347; captureRadius = 10; duration = 226; initialDepth = 794.686591; finalDepth = 773.453564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 773.453564 # Seafloor depth: -848.453564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.494138 meters # Minimum depth: 869.686591 meters looking forward 100.000000 meters along route # Maximum depth: 879.048720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 794.686591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038955; longitude = -121.083210; captureRadius = 10; duration = 222; initialDepth = 805.526761; finalDepth = 794.686591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 794.686591 # Seafloor depth: -869.686591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.972966 meters # Minimum depth: 880.526761 meters looking forward 100.000000 meters along route # Maximum depth: 893.105232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 805.526761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038240; longitude = -121.084058; captureRadius = 10; duration = 203; initialDepth = 818.408940; finalDepth = 805.526761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 805.526761 # Seafloor depth: -880.526761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.862232 meters # Minimum depth: 893.408940 meters looking forward 100.000000 meters along route # Maximum depth: 902.661558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.408940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037586; longitude = -121.084834; captureRadius = 10; duration = 217; initialDepth = 828.197075; finalDepth = 818.408940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 818.40894 # Seafloor depth: -893.408940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.606405 meters # Minimum depth: 903.197075 meters looking forward 100.000000 meters along route # Maximum depth: 914.766752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 828.197075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036887; longitude = -121.085662; captureRadius = 10; duration = 209; initialDepth = 841.499622; finalDepth = 828.197075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 828.197075 # Seafloor depth: -903.197075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.230288 meters # Minimum depth: 916.499622 meters looking forward 100.000000 meters along route # Maximum depth: 925.903598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 841.499622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036216; longitude = -121.086458; captureRadius = 10; duration = 212; initialDepth = 851.415633; finalDepth = 841.499622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 841.499622 # Seafloor depth: -916.499622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.239882 meters # Minimum depth: 926.415633 meters looking forward 100.000000 meters along route # Maximum depth: 935.000341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.415633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035535; longitude = -121.087267; captureRadius = 10; duration = 214; initialDepth = 861.104167; finalDepth = 851.415633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 851.415633 # Seafloor depth: -926.415633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.598305 meters # Minimum depth: 936.104167 meters looking forward 100.000000 meters along route # Maximum depth: 943.064365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 861.104167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034847; longitude = -121.088082; captureRadius = 10; duration = 207; initialDepth = 868.413963; finalDepth = 861.104167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 861.104167 # Seafloor depth: -936.104167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.873396 meters # Minimum depth: 943.413963 meters looking forward 100.000000 meters along route # Maximum depth: 948.875779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 868.413963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034182; longitude = -121.088871; captureRadius = 10; duration = 219; initialDepth = 873.761316; finalDepth = 868.413963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 868.413963 # Seafloor depth: -943.413963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.966287 meters # Minimum depth: 948.761316 meters looking forward 100.000000 meters along route # Maximum depth: 955.908804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.761316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033477; longitude = -121.089707; captureRadius = 10; duration = 201; initialDepth = 880.912532; finalDepth = 873.761316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0005180000001 # Actual altitude: 75.0005180000001 # Commanded vehicle depth: 873.761316 # Seafloor depth: -948.761834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.763081 meters # Minimum depth: 955.912532 meters looking forward 100.000000 meters along route # Maximum depth: 961.299732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 880.912532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032829; longitude = -121.090475; captureRadius = 10; duration = 215; initialDepth = 881.193698; finalDepth = 880.912532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.0005180000001 # Actual altitude: 75.0005180000001 # Commanded vehicle depth: 880.912532 # Seafloor depth: -955.912532 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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 1 # Segment length 99.357975 meters # Minimum depth: 956.193698 meters looking forward 100.000000 meters along route # Maximum depth: 960.285023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 881.193698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032138; longitude = -121.091295; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 873.408327; finalDepth = 881.193698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9933139999999 # Actual altitude: 77.9933139999999 # Commanded vehicle depth: 881.193698 # Seafloor depth: -959.187012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 311.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.783914 meters # Minimum depth: 948.408327 meters looking forward 100.000000 meters along route # Maximum depth: 955.988835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.408327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032345; longitude = -121.090248; captureRadius = 10; duration = 205; initialDepth = 865.087437; finalDepth = 873.408327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.580508 # Actual altitude: 82.580508 # Commanded vehicle depth: 873.408327 # Seafloor depth: -955.988835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.783714 meters # Minimum depth: 940.087437 meters looking forward 100.000000 meters along route # Maximum depth: 948.355353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.087437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032560; longitude = -121.089165; captureRadius = 10; duration = 205; initialDepth = 857.805884; finalDepth = 865.087437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.267916 # Actual altitude: 83.267916 # Commanded vehicle depth: 865.087437 # Seafloor depth: -948.355353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 333.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.783514 meters # Minimum depth: 932.805884 meters looking forward 100.000000 meters along route # Maximum depth: 939.474973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 857.805884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032775; longitude = -121.088082; captureRadius = 10; duration = 205; initialDepth = 846.746751; finalDepth = 857.805884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.267916 # Actual altitude: 83.267916 # Commanded vehicle depth: 857.805884 # Seafloor depth: -939.474973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 333.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.783315 meters # Minimum depth: 921.746751 meters looking forward 100.000000 meters along route # Maximum depth: 931.654038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 846.746751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032989; longitude = -121.087000; captureRadius = 10; duration = 205; initialDepth = 836.309403; finalDepth = 846.746751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.907287 # Actual altitude: 84.907287 # Commanded vehicle depth: 846.746751 # Seafloor depth: -931.654038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.783113 meters # Minimum depth: 911.309403 meters looking forward 100.000000 meters along route # Maximum depth: 921.011804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 836.309403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033204; longitude = -121.085917; captureRadius = 10; duration = 205; initialDepth = 823.245106; finalDepth = 836.309403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.907287 # Actual altitude: 84.907287 # Commanded vehicle depth: 836.309403 # Seafloor depth: -921.011804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.782914 meters # Minimum depth: 898.245106 meters looking forward 100.000000 meters along route # Maximum depth: 909.628255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 823.245106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033418; longitude = -121.084834; captureRadius = 10; duration = 205; initialDepth = 808.816002; finalDepth = 823.245106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.383149 # Actual altitude: 86.383149 # Commanded vehicle depth: 823.245106 # Seafloor depth: -909.628255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 345.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.782714 meters # Minimum depth: 883.816002 meters looking forward 100.000000 meters along route # Maximum depth: 896.642329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 808.816002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033633; longitude = -121.083751; captureRadius = 10; duration = 205; initialDepth = 796.037313; finalDepth = 808.816002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.826327 # Actual altitude: 87.826327 # Commanded vehicle depth: 808.816002 # Seafloor depth: -896.642329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; 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 102.782514 meters # Minimum depth: 871.037313 meters looking forward 100.000000 meters along route # Maximum depth: 882.704288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 796.037313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033847; longitude = -121.082669; captureRadius = 10; duration = 205; initialDepth = 776.085480; finalDepth = 796.037313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.826327 # Actual altitude: 87.826327 # Commanded vehicle depth: 796.037313 # Seafloor depth: -882.704288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; 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 102.782314 meters # Minimum depth: 851.085480 meters looking forward 100.000000 meters along route # Maximum depth: 869.602404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.085480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034062; longitude = -121.081586; captureRadius = 10; duration = 205; initialDepth = 762.374756; finalDepth = 776.085480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.516924 # Actual altitude: 93.516924 # Commanded vehicle depth: 776.08548 # Seafloor depth: -869.602404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.41; 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 102.782113 meters # Minimum depth: 837.374756 meters looking forward 100.000000 meters along route # Maximum depth: 850.764872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.374756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034276; longitude = -121.080503; captureRadius = 10; duration = 205; initialDepth = 744.024977; finalDepth = 762.374756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.516924 # Actual altitude: 93.516924 # Commanded vehicle depth: 762.374756 # Seafloor depth: -850.764872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.41; 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 102.781914 meters # Minimum depth: 819.024977 meters looking forward 100.000000 meters along route # Maximum depth: 835.710022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 744.024977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034491; longitude = -121.079420; captureRadius = 10; duration = 205; initialDepth = 719.963589; finalDepth = 744.024977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.6850449999999 # Actual altitude: 91.6850449999999 # Commanded vehicle depth: 744.024977 # Seafloor depth: -835.710022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.67; 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 102.781714 meters # Minimum depth: 794.963589 meters looking forward 100.000000 meters along route # Maximum depth: 817.433830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 719.963589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034706; longitude = -121.078338; captureRadius = 10; duration = 205; initialDepth = 700.005919; finalDepth = 719.963589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.470241 # Actual altitude: 97.470241 # Commanded vehicle depth: 719.963589 # Seafloor depth: -817.433830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.99; 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 102.781514 meters # Minimum depth: 775.005919 meters looking forward 100.000000 meters along route # Maximum depth: 793.289186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 700.005919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034920; longitude = -121.077255; captureRadius = 10; duration = 205; initialDepth = 675.626135; finalDepth = 700.005919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.470241 # Actual altitude: 97.470241 # Commanded vehicle depth: 700.005919 # Seafloor depth: -793.289186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.99; 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 105.214299 meters # Minimum depth: 750.626135 meters looking forward 100.000000 meters along route # Maximum depth: 771.943522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 675.626135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035135; longitude = -121.076172; captureRadius = 10; duration = 210; initialDepth = 646.256245; finalDepth = 675.626135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.3173870000001 # Actual altitude: 96.3173870000001 # Commanded vehicle depth: 675.626135 # Seafloor depth: -771.943522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.53; 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 100.348129 meters # Minimum depth: 721.256245 meters looking forward 100.000000 meters along route # Maximum depth: 750.056543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 646.256245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035354; longitude = -121.075064; captureRadius = 10; duration = 200; initialDepth = 632.050596; finalDepth = 646.256245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.800298 # Actual altitude: 100 # Commanded vehicle depth: 646.256245 # Seafloor depth: -750.056543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.780915 meters # Minimum depth: 707.050596 meters looking forward 100.000000 meters along route # Maximum depth: 719.308328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 632.050596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035564; longitude = -121.074007; captureRadius = 10; duration = 205; initialDepth = 619.945850; finalDepth = 632.050596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.800298 # Actual altitude: 100 # Commanded vehicle depth: 632.050596 # Seafloor depth: -719.308328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.780714 meters # Minimum depth: 694.945850 meters looking forward 100.000000 meters along route # Maximum depth: 706.421061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 619.945850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035778; longitude = -121.072924; captureRadius = 10; duration = 205; initialDepth = 610.718914; finalDepth = 619.945850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.2577319999999 # Actual altitude: 87.2577319999999 # Commanded vehicle depth: 619.94585 # Seafloor depth: -706.421061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 349.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.780515 meters # Minimum depth: 685.718914 meters looking forward 100.000000 meters along route # Maximum depth: 694.308333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 610.718914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035993; longitude = -121.071841; captureRadius = 10; duration = 205; initialDepth = 605.691231; finalDepth = 610.718914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.4752110000001 # Actual altitude: 86.4752110000001 # Commanded vehicle depth: 610.718914 # Seafloor depth: -694.308333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 345.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.780315 meters # Minimum depth: 680.691231 meters looking forward 100.000000 meters along route # Maximum depth: 685.706727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.691231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036207; longitude = -121.070758; captureRadius = 10; duration = 205; initialDepth = 601.298656; finalDepth = 605.691231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.5894189999999 # Actual altitude: 83.5894189999999 # Commanded vehicle depth: 605.691231 # Seafloor depth: -685.666134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 334.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.780115 meters # Minimum depth: 676.298656 meters looking forward 100.000000 meters along route # Maximum depth: 679.732028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 601.298656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036422; longitude = -121.069675; captureRadius = 10; duration = 205; initialDepth = 595.236997; finalDepth = 601.298656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.974903 # Actual altitude: 79.974903 # Commanded vehicle depth: 601.298656 # Seafloor depth: -679.732028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 319.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.779916 meters # Minimum depth: 670.236997 meters looking forward 100.000000 meters along route # Maximum depth: 677.693830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 595.236997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036636; longitude = -121.068593; captureRadius = 10; duration = 205; initialDepth = 589.757964; finalDepth = 595.236997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9322950000001 # Actual altitude: 81.9322950000001 # Commanded vehicle depth: 595.236997 # Seafloor depth: -677.169292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 327.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.723103 meters # Minimum depth: 664.757964 meters looking forward 100.000000 meters along route # Maximum depth: 669.758775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 589.757964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036851; longitude = -121.067510; captureRadius = 10; duration = 207; initialDepth = 582.313056; finalDepth = 589.757964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9322950000001 # Actual altitude: 81.9322950000001 # Commanded vehicle depth: 589.757964 # Seafloor depth: -669.758775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 327.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.836129 meters # Minimum depth: 657.313056 meters looking forward 100.000000 meters along route # Maximum depth: 665.615985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 582.313056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037068; longitude = -121.066417; captureRadius = 10; duration = 203; initialDepth = 579.549748; finalDepth = 582.313056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3029290000001 # Actual altitude: 83.3029290000001 # Commanded vehicle depth: 582.313056 # Seafloor depth: -665.615985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 333.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.779316 meters # Minimum depth: 654.549748 meters looking forward 100.000000 meters along route # Maximum depth: 657.025219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 579.549748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037280; longitude = -121.065344; captureRadius = 10; duration = 205; initialDepth = 576.262167; finalDepth = 579.549748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3029290000001 # Actual altitude: 83.3029290000001 # Commanded vehicle depth: 579.549748 # Seafloor depth: -656.681453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 333.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.779117 meters # Minimum depth: 651.262167 meters looking forward 100.000000 meters along route # Maximum depth: 654.850965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 576.262167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037495; longitude = -121.064262; captureRadius = 10; duration = 205; initialDepth = 573.893339; finalDepth = 576.262167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.38656 # Actual altitude: 78.38656 # Commanded vehicle depth: 576.262167 # Seafloor depth: -654.648727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.778917 meters # Minimum depth: 648.893339 meters looking forward 100.000000 meters along route # Maximum depth: 650.861571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 573.893339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037709; longitude = -121.063179; captureRadius = 10; duration = 205; initialDepth = 574.258487; finalDepth = 573.893339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.38656 # Actual altitude: 78.38656 # Commanded vehicle depth: 573.893339 # Seafloor depth: -650.861571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.190732 meters # Minimum depth: 649.258487 meters looking forward 100.000000 meters along route # Maximum depth: 650.821620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.258487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037924; longitude = -121.062096; captureRadius = 10; duration = 216; initialDepth = 574.172397; finalDepth = 574.258487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9682320000001 # Actual altitude: 76.9682320000001 # Commanded vehicle depth: 574.258487 # Seafloor depth: -649.723727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 307.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.792451 meters # Minimum depth: 649.172397 meters looking forward 100.000000 meters along route # Maximum depth: 650.223000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 918.693698 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 574.172397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038150; longitude = -121.060956; captureRadius = 10; duration = 201; initialDepth = 574.172397; finalDepth = 574.172397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.4652400000001 # Actual altitude: 75.4652400000001 # Commanded vehicle depth: 574.172397 # Seafloor depth: -649.483102 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 301.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 76.3616199999999 # Sonar parameter altitude: 76.3616199999999 # Commanded vehicle depth: 574.172397 # Seafloor depth: -650.534017 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 64.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 305.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 305.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.792451 meters # Minimum depth: 649.172397 meters looking forward 100.000000 meters along route # Maximum depth: 650.534017 meters looking forward 100.000000 meters along route # Vehicle depth: 574.172397 meters behavior waypoint { latitude = 34.038360; longitude = -121.059895; captureRadius = 10; duration = 287; depth = 574.172397; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 574.172397 meters set by local depth and desired altitude behavior descend { duration = 1868; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.792451 meters # Minimum depth: 649.172397 meters looking forward 100.000000 meters along route # Maximum depth: 650.534017 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 34.038360; longitude = -121.059895; captureRadius = 10; duration = 1000; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 109.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 109.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 64.0; 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_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; } # ####################################################### ####################################################### ####################################################### #######################################################