# 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: SoquelCanyon_5v3.rte # Mission File: SoquelCanyon_5v3.cfg # Distance: 37620.570235 (m) # Estimated Time: 27424 (s) 7.618 (hr) # Abort Time: 35651 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 673 (s) # Way Points: 27 # Route Points: 500 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 661.867167 (m) # Abort Vehicle Depth: 686.867167 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (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 -122.015586 36.821347 -96.618675 0.000000 3 # 1 -122.008450 36.818117 -151.872536 730.428180 3 # 2 -122.014241 36.816030 -106.120293 1296.487034 4 # 3 -122.013513 36.814768 -135.882214 1450.820137 3 # 4 -122.005648 36.817442 -220.192497 2212.509525 4 # 5 -122.003649 36.816480 -322.557762 2420.315183 3 # 6 -122.009814 36.814182 -213.797932 3026.451198 4 # 7 -122.009085 36.812920 -278.443672 3180.822606 3 # 8 -122.002024 36.815264 -380.640602 3862.240855 4 # 9 -122.000174 36.814092 -412.963287 4072.330341 3 # 10 -122.037319 36.800657 -403.155548 7705.757153 4 # 11 -122.036631 36.799423 -452.935127 7855.787471 3 # 12 -121.998537 36.813152 -474.312065 11579.849810 4 # 13 -121.996569 36.812350 -526.395172 11776.660571 3 # 14 -122.035943 36.798189 -492.353233 15624.570088 4 # 15 -122.035255 36.796955 -524.521820 15774.601199 3 # 16 -121.995242 36.811749 -565.819687 19703.471855 4 # 17 -121.996475 36.809451 -490.815689 19981.128165 3 # 18 -122.034567 36.795722 -547.036392 23705.178048 4 # 19 -122.033879 36.794488 -562.739868 23855.209952 3 # 20 -121.998997 36.806972 -385.561523 27261.519274 4 # 21 -121.998661 36.805575 -420.998970 27419.375192 3 # 22 -122.033191 36.793254 -563.897812 30789.691398 4 # 23 -122.032503 36.792021 -553.262009 30939.622875 3 # 24 -121.998698 36.804283 -490.799362 34248.267325 4 # 25 -121.999446 36.802556 -494.842285 34451.150152 3 # 26 -122.031815 36.790787 -560.870544 37620.570235 4 # # A total of 500 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 22500; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 661.867167; abortDepth = 686.867167; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 673; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 78.360397 meters # Minimum depth: 560.870544 meters looking forward 100.000000 meters along route # Maximum depth: 566.690012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.870544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790787; longitude = -122.031815; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 510.870544; finalDepth = 510.870544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:510.870544 # Seafloor depth:-560.870544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 560.870544 meters looking forward 100.000000 meters along route # Maximum depth: 606.651063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.870544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790853; longitude = -122.031634; captureRadius = 10; duration = 78; initialDepth = 534.106749; finalDepth = 510.870544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.457802 # Actual altitude: 58.457802 # Commanded vehicle depth:510.870544 # Seafloor depth:-569.328346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 592.940635 meters looking forward 100.000000 meters along route # Maximum depth: 648.747850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.106749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791140; longitude = -122.030843; captureRadius = 10; duration = 78; initialDepth = 556.969170; finalDepth = 534.106749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.766185600001 # Actual altitude: 72.766185600001 # Commanded vehicle depth:534.106749399999 # Seafloor depth:-606.872935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.11; MB_Bottom_Detect_Filter_Max_Range = 291.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 639.953978 meters looking forward 100.000000 meters along route # Maximum depth: 676.107727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.969170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791423; longitude = -122.030065; captureRadius = 10; duration = 78; initialDepth = 580.018382; finalDepth = 556.969170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.718510200001 # Actual altitude: 93.718510200001 # Commanded vehicle depth:556.969169799999 # Seafloor depth:-650.687680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 26 # Segment length 78.360397 meters # Minimum depth: 670.768265 meters looking forward 100.000000 meters along route # Maximum depth: 687.538577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.018382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791709; longitude = -122.029280; captureRadius = 10; duration = 78; initialDepth = 603.281194; finalDepth = 580.018382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7166031000007 # Actual altitude: 97.7166031000007 # Commanded vehicle depth:580.018381899999 # Seafloor depth:-677.734985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 39.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 686.867167 meters looking forward 100.000000 meters along route # Maximum depth: 695.199137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.281194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791997; longitude = -122.028488; captureRadius = 10; duration = 78; initialDepth = 626.116604; finalDepth = 603.281194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7166031000007 # Actual altitude: 97.7166031000007 # Commanded vehicle depth:603.281193699999 # Seafloor depth:-687.631322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 39.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 682.245596 meters looking forward 100.000000 meters along route # Maximum depth: 695.199137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.116604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792279; longitude = -122.027711; captureRadius = 10; duration = 78; initialDepth = 631.547564; finalDepth = 626.116604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3501283000006 # Actual altitude: 84.3501283000006 # Commanded vehicle depth:626.116603599999 # Seafloor depth:-692.896590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.40; 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 = 337.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 681.547564 meters looking forward 100.000000 meters along route # Maximum depth: 684.244576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.547564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792565; longitude = -122.026926; captureRadius = 10; duration = 78; initialDepth = 629.371553; finalDepth = 631.547564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.779986400001 # Actual altitude: 66.779986400001 # Commanded vehicle depth:631.547564 # Seafloor depth:-681.725923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 267.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 679.371553 meters looking forward 100.000000 meters along route # Maximum depth: 683.224201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.371553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792853; longitude = -122.026133; captureRadius = 10; duration = 78; initialDepth = 622.055042; finalDepth = 629.371553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.63144 # Actual altitude: 53.63144 # Commanded vehicle depth:629.371553 # Seafloor depth:-683.002993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 672.055042 meters looking forward 100.000000 meters along route # Maximum depth: 679.538183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.055042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793135; longitude = -122.025357; captureRadius = 10; duration = 78; initialDepth = 609.691929; finalDepth = 622.055042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2893350000001 # Actual altitude: 57.2893350000001 # Commanded vehicle depth:622.055042 # Seafloor depth:-679.344377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 659.691929 meters looking forward 100.000000 meters along route # Maximum depth: 673.901695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.691929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793420; longitude = -122.024572; captureRadius = 10; duration = 78; initialDepth = 602.551660; finalDepth = 609.691929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8949200000001 # Actual altitude: 61.8949200000001 # Commanded vehicle depth:609.691929 # Seafloor depth:-671.586849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 652.551660 meters looking forward 100.000000 meters along route # Maximum depth: 662.378854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.551660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793709; longitude = -122.023778; captureRadius = 10; duration = 78; initialDepth = 583.837506; finalDepth = 602.551660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8949200000001 # Actual altitude: 61.8949200000001 # Commanded vehicle depth:602.55166 # Seafloor depth:-659.606124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 633.837506 meters looking forward 100.000000 meters along route # Maximum depth: 654.743050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.837506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793991; longitude = -122.023003; captureRadius = 10; duration = 78; initialDepth = 576.142533; finalDepth = 583.837506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.957855 # Actual altitude: 67.957855 # Commanded vehicle depth:583.837506 # Seafloor depth:-651.795361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 626.142533 meters looking forward 100.000000 meters along route # Maximum depth: 638.362154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.142533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794276; longitude = -122.022218; captureRadius = 10; duration = 78; initialDepth = 573.230030; finalDepth = 576.142533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.957855 # Actual altitude: 67.957855 # Commanded vehicle depth:576.142533 # Seafloor depth:-632.829544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 623.230030 meters looking forward 100.000000 meters along route # Maximum depth: 628.285731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.230030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794565; longitude = -122.021424; captureRadius = 10; duration = 78; initialDepth = 571.072142; finalDepth = 573.230030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6870110000001 # Actual altitude: 56.6870110000001 # Commanded vehicle depth:573.23003 # Seafloor depth:-626.035618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 621.072142 meters looking forward 100.000000 meters along route # Maximum depth: 623.631696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.072142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794847; longitude = -122.020649; captureRadius = 10; duration = 78; initialDepth = 562.110566; finalDepth = 571.072142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8055879999999 # Actual altitude: 52.8055879999999 # Commanded vehicle depth:571.072142 # Seafloor depth:-623.249294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 612.110566 meters looking forward 100.000000 meters along route # Maximum depth: 621.163872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.110566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795132; longitude = -122.019864; captureRadius = 10; duration = 78; initialDepth = 534.242956; finalDepth = 562.110566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.761844 # Actual altitude: 58.761844 # Commanded vehicle depth:562.110566 # Seafloor depth:-620.872410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 584.242956 meters looking forward 100.000000 meters along route # Maximum depth: 616.980557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.242956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795421; longitude = -122.019069; captureRadius = 10; duration = 78; initialDepth = 517.192175; finalDepth = 534.242956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5685709999999 # Actual altitude: 77.5685709999999 # Commanded vehicle depth:534.242956 # Seafloor depth:-611.811527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 26 # Segment length 78.360397 meters # Minimum depth: 567.192175 meters looking forward 100.000000 meters along route # Maximum depth: 589.654285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.192175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795703; longitude = -122.018295; captureRadius = 10; duration = 78; initialDepth = 514.198628; finalDepth = 517.192175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5685709999999 # Actual altitude: 77.5685709999999 # Commanded vehicle depth:517.192175 # Seafloor depth:-583.401448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 26 # Segment length 78.360397 meters # Minimum depth: 564.198628 meters looking forward 100.000000 meters along route # Maximum depth: 569.212534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.198628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795988; longitude = -122.017511; captureRadius = 10; duration = 78; initialDepth = 514.739742; finalDepth = 514.198628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2092729999999 # Actual altitude: 66.2092729999999 # Commanded vehicle depth:514.198628 # Seafloor depth:-566.686180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 264.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 564.739742 meters looking forward 100.000000 meters along route # Maximum depth: 582.996914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.739742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796278; longitude = -122.016714; captureRadius = 10; duration = 78; initialDepth = 530.528393; finalDepth = 514.739742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.142618 # Actual altitude: 54.142618 # Commanded vehicle depth:514.739742 # Seafloor depth:-568.882360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 580.528393 meters looking forward 100.000000 meters along route # Maximum depth: 594.046156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.528393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796558; longitude = -122.015941; captureRadius = 10; duration = 78; initialDepth = 542.815908; finalDepth = 530.528393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.142618 # Actual altitude: 54.142618 # Commanded vehicle depth:530.528393 # Seafloor depth:-583.374639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 592.815908 meters looking forward 100.000000 meters along route # Maximum depth: 600.068035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.815908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796844; longitude = -122.015157; captureRadius = 10; duration = 78; initialDepth = 548.594688; finalDepth = 542.815908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.846246 # Actual altitude: 52.846246 # Commanded vehicle depth:542.815908 # Seafloor depth:-594.504260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 598.594688 meters looking forward 100.000000 meters along route # Maximum depth: 608.186905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.594688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797134; longitude = -122.014359; captureRadius = 10; duration = 78; initialDepth = 556.446216; finalDepth = 548.594688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.688352 # Actual altitude: 51.688352 # Commanded vehicle depth:548.594688 # Seafloor depth:-600.253420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 606.446216 meters looking forward 100.000000 meters along route # Maximum depth: 610.098321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.446216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797414; longitude = -122.013587; captureRadius = 10; duration = 78; initialDepth = 559.668658; finalDepth = 556.446216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.008025 # Actual altitude: 52.008025 # Commanded vehicle depth:556.446216 # Seafloor depth:-608.454241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 609.668658 meters looking forward 100.000000 meters along route # Maximum depth: 610.395121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.668658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797700; longitude = -122.012803; captureRadius = 10; duration = 78; initialDepth = 557.025364; finalDepth = 559.668658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.008025 # Actual altitude: 52.008025 # Commanded vehicle depth:559.668658 # Seafloor depth:-610.232261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 607.025364 meters looking forward 100.000000 meters along route # Maximum depth: 610.393916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.025364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797990; longitude = -122.012005; captureRadius = 10; duration = 78; initialDepth = 550.586202; finalDepth = 557.025364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.09117 # Actual altitude: 53.09117 # Commanded vehicle depth:557.025364 # Seafloor depth:-610.116534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 600.586202 meters looking forward 100.000000 meters along route # Maximum depth: 608.097717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.586202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798270; longitude = -122.011234; captureRadius = 10; duration = 78; initialDepth = 538.617120; finalDepth = 550.586202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.36401 # Actual altitude: 56.36401 # Commanded vehicle depth:550.586202 # Seafloor depth:-606.950212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 588.617120 meters looking forward 100.000000 meters along route # Maximum depth: 602.192153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.617120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798555; longitude = -122.010449; captureRadius = 10; duration = 78; initialDepth = 525.976387; finalDepth = 538.617120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.279032 # Actual altitude: 61.279032 # Commanded vehicle depth:538.61712 # Seafloor depth:-599.896152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 245.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 575.976387 meters looking forward 100.000000 meters along route # Maximum depth: 591.889599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.976387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798846; longitude = -122.009650; captureRadius = 10; duration = 78; initialDepth = 512.140291; finalDepth = 525.976387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4474339999999 # Actual altitude: 62.4474339999999 # Commanded vehicle depth:525.976387 # Seafloor depth:-588.423821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 249.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 562.140291 meters looking forward 100.000000 meters along route # Maximum depth: 579.482410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.140291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799126; longitude = -122.008880; captureRadius = 10; duration = 78; initialDepth = 498.027159; finalDepth = 512.140291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2295839999999 # Actual altitude: 63.2295839999999 # Commanded vehicle depth:512.140291 # Seafloor depth:-575.369875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 548.027159 meters looking forward 100.000000 meters along route # Maximum depth: 563.505168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.027159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799411; longitude = -122.008095; captureRadius = 10; duration = 78; initialDepth = 479.355340; finalDepth = 498.027159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.721679 # Actual altitude: 63.721679 # Commanded vehicle depth:498.027159 # Seafloor depth:-561.748838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 254.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 529.355340 meters looking forward 100.000000 meters along route # Maximum depth: 553.343772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.355340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799702; longitude = -122.007295; captureRadius = 10; duration = 78; initialDepth = 459.926819; finalDepth = 479.355340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3311610000001 # Actual altitude: 68.3311610000001 # Commanded vehicle depth:479.35534 # Seafloor depth:-547.686501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 273.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 509.926819 meters looking forward 100.000000 meters along route # Maximum depth: 533.974000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.926819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799982; longitude = -122.006526; captureRadius = 10; duration = 78; initialDepth = 449.678451; finalDepth = 459.926819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.669856 # Actual altitude: 68.669856 # Commanded vehicle depth:459.926819 # Seafloor depth:-528.596675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 274.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 499.678451 meters looking forward 100.000000 meters along route # Maximum depth: 512.804192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.678451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800267; longitude = -122.005741; captureRadius = 10; duration = 78; initialDepth = 440.670271; finalDepth = 449.678451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.669856 # Actual altitude: 68.669856 # Commanded vehicle depth:449.678451 # Seafloor depth:-509.029903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 274.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 490.670271 meters looking forward 100.000000 meters along route # Maximum depth: 501.762530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.670271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800558; longitude = -122.004940; captureRadius = 10; duration = 78; initialDepth = 425.858214; finalDepth = 440.670271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.351452 # Actual altitude: 59.351452 # Commanded vehicle depth:440.670271 # Seafloor depth:-499.495589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.74; MB_Bottom_Detect_Filter_Max_Range = 237.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 475.858214 meters looking forward 100.000000 meters along route # Maximum depth: 493.341039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.858214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800838; longitude = -122.004172; captureRadius = 10; duration = 78; initialDepth = 410.540078; finalDepth = 425.858214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.432642 # Actual altitude: 64.432642 # Commanded vehicle depth:425.858214 # Seafloor depth:-490.290856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 257.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 460.540078 meters looking forward 100.000000 meters along route # Maximum depth: 478.878268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.540078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801123; longitude = -122.003387; captureRadius = 10; duration = 78; initialDepth = 403.253324; finalDepth = 410.540078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.435381 # Actual altitude: 64.435381 # Commanded vehicle depth:410.540078 # Seafloor depth:-474.975459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 257.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 453.253324 meters looking forward 100.000000 meters along route # Maximum depth: 465.174825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.253324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801415; longitude = -122.002585; captureRadius = 10; duration = 78; initialDepth = 401.375916; finalDepth = 403.253324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.435381 # Actual altitude: 64.435381 # Commanded vehicle depth:403.253324 # Seafloor depth:-460.234368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 257.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 451.375916 meters looking forward 100.000000 meters along route # Maximum depth: 457.773937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.375916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801694; longitude = -122.001818; captureRadius = 10; duration = 78; initialDepth = 405.031054; finalDepth = 401.375916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.981044 # Actual altitude: 56.981044 # Commanded vehicle depth:401.375916 # Seafloor depth:-453.329032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 455.031054 meters looking forward 100.000000 meters along route # Maximum depth: 475.811140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.031054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801979; longitude = -122.001033; captureRadius = 10; duration = 78; initialDepth = 422.586474; finalDepth = 405.031054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.900483 # Actual altitude: 52.900483 # Commanded vehicle depth:405.031054 # Seafloor depth:-457.931537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 78.360397 meters # Minimum depth: 472.586474 meters looking forward 100.000000 meters along route # Maximum depth: 493.767212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.586474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802271; longitude = -122.000231; captureRadius = 10; duration = 78; initialDepth = 429.280248; finalDepth = 422.586474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.575264 # Actual altitude: 53.575264 # Commanded vehicle depth:422.586474 # Seafloor depth:-476.161738 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 78.360397 meters # Minimum depth: 479.280248 meters looking forward 100.000000 meters along route # Maximum depth: 506.248363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.280248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802556; longitude = -121.999446; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 443.047832; finalDepth = 429.280248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.562037 # Actual altitude: 65.562037 # Commanded vehicle depth:429.280248 # Seafloor depth:-494.842285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 78.360397 meters # Minimum depth: 503.351935 meters looking forward 100.000000 meters along route # Maximum depth: 512.149457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.047832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802947; longitude = -121.999277; captureRadius = 10; duration = 78; initialDepth = 441.813793; finalDepth = 443.047832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.562037 # Actual altitude: 65.562037 # Commanded vehicle depth:443.047832100001 # Seafloor depth:-506.691671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 78.360397 meters # Minimum depth: 491.813793 meters looking forward 100.000000 meters along route # Maximum depth: 511.618705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.813793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803623; longitude = -121.998984; captureRadius = 10; duration = 78; initialDepth = 440.799362; finalDepth = 441.813793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 67.45821 # Actual altitude: 67.45821 # Commanded vehicle depth:441.813793 # Seafloor depth:-509.272003 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 269.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 78.360397 meters # Minimum depth: 490.799362 meters looking forward 100.000000 meters along route # Maximum depth: 511.101746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.799362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804283; longitude = -121.998698; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 440.799362; finalDepth = 440.799362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.45821 # Actual altitude: 67.45821 # Commanded vehicle depth:440.799362 # Seafloor depth:-490.799362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 269.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 490.799362 meters looking forward 100.000000 meters along route # Maximum depth: 495.129214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.799362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804269; longitude = -121.998736; captureRadius = 10; duration = 78; initialDepth = 427.187287; finalDepth = 440.799362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.264739 # Actual altitude: 50.264739 # Commanded vehicle depth:440.799362 # Seafloor depth:-491.064101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 477.187287 meters looking forward 100.000000 meters along route # Maximum depth: 493.826404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.187287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803983; longitude = -121.999525; captureRadius = 10; duration = 78; initialDepth = 405.305109; finalDepth = 427.187287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.093001 # Actual altitude: 64.093001 # Commanded vehicle depth:427.187287 # Seafloor depth:-491.280288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 455.305109 meters looking forward 100.000000 meters along route # Maximum depth: 480.772033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.305109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803700; longitude = -122.000305; captureRadius = 10; duration = 78; initialDepth = 395.552796; finalDepth = 405.305109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.095551 # Actual altitude: 71.095551 # Commanded vehicle depth:405.305109 # Seafloor depth:-476.400660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 284.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 445.552796 meters looking forward 100.000000 meters along route # Maximum depth: 460.857938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.552796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803416; longitude = -122.001090; captureRadius = 10; duration = 78; initialDepth = 395.869070; finalDepth = 395.552796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.095551 # Actual altitude: 71.095551 # Commanded vehicle depth:395.552796 # Seafloor depth:-453.455254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 284.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 445.869070 meters looking forward 100.000000 meters along route # Maximum depth: 467.574269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.869070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803127; longitude = -122.001885; captureRadius = 10; duration = 78; initialDepth = 413.465202; finalDepth = 395.869070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.902458 # Actual altitude: 57.902458 # Commanded vehicle depth:395.86907 # Seafloor depth:-450.261819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 463.465202 meters looking forward 100.000000 meters along route # Maximum depth: 479.521756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.465202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802846; longitude = -122.002659; captureRadius = 10; duration = 78; initialDepth = 427.645623; finalDepth = 413.465202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.455427 # Actual altitude: 54.455427 # Commanded vehicle depth:413.465202 # Seafloor depth:-467.920629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 477.645623 meters looking forward 100.000000 meters along route # Maximum depth: 489.950605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.645623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802562; longitude = -122.003443; captureRadius = 10; duration = 78; initialDepth = 437.112001; finalDepth = 427.645623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.455427 # Actual altitude: 54.455427 # Commanded vehicle depth:427.645623 # Seafloor depth:-480.745044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 487.112001 meters looking forward 100.000000 meters along route # Maximum depth: 503.234142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.112001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802271; longitude = -122.004246; captureRadius = 10; duration = 78; initialDepth = 449.383571; finalDepth = 437.112001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.099421 # Actual altitude: 53.099421 # Commanded vehicle depth:437.112001 # Seafloor depth:-490.179947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 499.383571 meters looking forward 100.000000 meters along route # Maximum depth: 514.535780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.383571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801993; longitude = -122.005013; captureRadius = 10; duration = 78; initialDepth = 461.829089; finalDepth = 449.383571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.176609 # Actual altitude: 54.176609 # Commanded vehicle depth:449.383571 # Seafloor depth:-503.560180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 511.829089 meters looking forward 100.000000 meters along route # Maximum depth: 526.843846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.829089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801708; longitude = -122.005797; captureRadius = 10; duration = 78; initialDepth = 473.640053; finalDepth = 461.829089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.176609 # Actual altitude: 54.176609 # Commanded vehicle depth:461.829089 # Seafloor depth:-515.323424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 523.640053 meters looking forward 100.000000 meters along route # Maximum depth: 539.640987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.640053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801423; longitude = -122.006582; captureRadius = 10; duration = 78; initialDepth = 486.885890; finalDepth = 473.640053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2127740000001 # Actual altitude: 54.2127740000001 # Commanded vehicle depth:473.640053 # Seafloor depth:-527.852827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 536.885890 meters looking forward 100.000000 meters along route # Maximum depth: 553.871772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.885890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801139; longitude = -122.007367; captureRadius = 10; duration = 78; initialDepth = 500.567462; finalDepth = 486.885890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2127740000001 # Actual altitude: 54.2127740000001 # Commanded vehicle depth:486.88589 # Seafloor depth:-539.905751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 550.567462 meters looking forward 100.000000 meters along route # Maximum depth: 570.594228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.567462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800854; longitude = -122.008151; captureRadius = 10; duration = 78; initialDepth = 518.449739; finalDepth = 500.567462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3830390000001 # Actual altitude: 54.3830390000001 # Commanded vehicle depth:500.567462 # Seafloor depth:-554.950501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 568.449739 meters looking forward 100.000000 meters along route # Maximum depth: 576.015387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.449739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800569; longitude = -122.008936; captureRadius = 10; duration = 78; initialDepth = 524.240848; finalDepth = 518.449739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3830390000001 # Actual altitude: 54.3830390000001 # Commanded vehicle depth:518.449739 # Seafloor depth:-571.251470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 574.240848 meters looking forward 100.000000 meters along route # Maximum depth: 585.515177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.240848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800285; longitude = -122.009720; captureRadius = 10; duration = 78; initialDepth = 532.976323; finalDepth = 524.240848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.801731 # Actual altitude: 52.801731 # Commanded vehicle depth:524.240848 # Seafloor depth:-576.055177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 582.976323 meters looking forward 100.000000 meters along route # Maximum depth: 590.495618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.976323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800000; longitude = -122.010505; captureRadius = 10; duration = 78; initialDepth = 535.438966; finalDepth = 532.976323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0390570000001 # Actual altitude: 53.0390570000001 # Commanded vehicle depth:532.976323 # Seafloor depth:-586.015380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 585.438966 meters looking forward 100.000000 meters along route # Maximum depth: 590.705548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.438966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799716; longitude = -122.011290; captureRadius = 10; duration = 78; initialDepth = 518.582006; finalDepth = 535.438966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.094741 # Actual altitude: 55.094741 # Commanded vehicle depth:535.438966 # Seafloor depth:-590.533707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 568.582006 meters looking forward 100.000000 meters along route # Maximum depth: 588.186420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.582006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799431; longitude = -122.012074; captureRadius = 10; duration = 78; initialDepth = 518.582006; finalDepth = 518.582006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.823205 # Actual altitude: 66.823205 # Commanded vehicle depth:518.582006 # Seafloor depth:-585.405211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 267.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 568.582006 meters looking forward 100.000000 meters along route # Maximum depth: 580.984105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.582006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799146; longitude = -122.012859; captureRadius = 10; duration = 78; initialDepth = 529.612734; finalDepth = 518.582006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.823205 # Actual altitude: 66.823205 # Commanded vehicle depth:518.582006 # Seafloor depth:-568.774570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 267.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 579.612734 meters looking forward 100.000000 meters along route # Maximum depth: 582.701237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.612734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798862; longitude = -122.013644; captureRadius = 10; duration = 78; initialDepth = 529.727146; finalDepth = 529.612734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.410454 # Actual altitude: 51.410454 # Commanded vehicle depth:529.612734 # Seafloor depth:-581.023188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 579.727146 meters looking forward 100.000000 meters along route # Maximum depth: 582.701237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.727146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798576; longitude = -122.014433; captureRadius = 10; duration = 78; initialDepth = 518.309691; finalDepth = 529.727146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8453390000001 # Actual altitude: 52.8453390000001 # Commanded vehicle depth:529.727146 # Seafloor depth:-582.572485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 568.309691 meters looking forward 100.000000 meters along route # Maximum depth: 581.010762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.309691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798293; longitude = -122.015213; captureRadius = 10; duration = 78; initialDepth = 484.886474; finalDepth = 518.309691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1491739999999 # Actual altitude: 61.1491739999999 # Commanded vehicle depth:518.309691 # Seafloor depth:-579.458865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 244.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 534.886474 meters looking forward 100.000000 meters along route # Maximum depth: 571.545114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.886474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798008; longitude = -122.015997; captureRadius = 10; duration = 78; initialDepth = 484.747083; finalDepth = 484.886474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8144639999999 # Actual altitude: 81.8144639999999 # Commanded vehicle depth:484.886474 # Seafloor depth:-566.700938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 327.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 534.747083 meters looking forward 100.000000 meters along route # Maximum depth: 542.038222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.747083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797719; longitude = -122.016793; captureRadius = 10; duration = 78; initialDepth = 489.313518; finalDepth = 484.747083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8144639999999 # Actual altitude: 81.8144639999999 # Commanded vehicle depth:484.747083 # Seafloor depth:-534.819698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 327.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 539.313518 meters looking forward 100.000000 meters along route # Maximum depth: 562.538119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.313518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797439; longitude = -122.017567; captureRadius = 10; duration = 78; initialDepth = 509.686947; finalDepth = 489.313518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1048059999999 # Actual altitude: 53.1048059999999 # Commanded vehicle depth:489.313518 # Seafloor depth:-542.418324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 559.686947 meters looking forward 100.000000 meters along route # Maximum depth: 575.828818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.686947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797154; longitude = -122.018351; captureRadius = 10; duration = 78; initialDepth = 520.854638; finalDepth = 509.686947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.909505 # Actual altitude: 53.909505 # Commanded vehicle depth:509.686947 # Seafloor depth:-563.596452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 570.854638 meters looking forward 100.000000 meters along route # Maximum depth: 598.038861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.854638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796863; longitude = -122.019153; captureRadius = 10; duration = 78; initialDepth = 542.494888; finalDepth = 520.854638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.443298 # Actual altitude: 55.443298 # Commanded vehicle depth:520.854638 # Seafloor depth:-576.297936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 592.494888 meters looking forward 100.000000 meters along route # Maximum depth: 604.907044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.494888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796585; longitude = -122.019920; captureRadius = 10; duration = 78; initialDepth = 553.813739; finalDepth = 542.494888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.877022 # Actual altitude: 55.877022 # Commanded vehicle depth:542.494888 # Seafloor depth:-598.371910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 603.813739 meters looking forward 100.000000 meters along route # Maximum depth: 606.810206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.813739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796300; longitude = -122.020705; captureRadius = 10; duration = 78; initialDepth = 544.838839; finalDepth = 553.813739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.877022 # Actual altitude: 55.877022 # Commanded vehicle depth:553.813739 # Seafloor depth:-605.341785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 594.838839 meters looking forward 100.000000 meters along route # Maximum depth: 606.810206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.838839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796016; longitude = -122.021490; captureRadius = 10; duration = 78; initialDepth = 544.430226; finalDepth = 544.838839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.833943 # Actual altitude: 60.833943 # Commanded vehicle depth:544.838839 # Seafloor depth:-605.672782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 594.430226 meters looking forward 100.000000 meters along route # Maximum depth: 603.904223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.430226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795731; longitude = -122.022274; captureRadius = 10; duration = 78; initialDepth = 549.936642; finalDepth = 544.430226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.833943 # Actual altitude: 60.833943 # Commanded vehicle depth:544.430226 # Seafloor depth:-594.633317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 599.936642 meters looking forward 100.000000 meters along route # Maximum depth: 618.719946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.936642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795447; longitude = -122.023059; captureRadius = 10; duration = 78; initialDepth = 565.498585; finalDepth = 549.936642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.354964 # Actual altitude: 55.354964 # Commanded vehicle depth:549.936642 # Seafloor depth:-605.291606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 615.498585 meters looking forward 100.000000 meters along route # Maximum depth: 636.332885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.498585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795162; longitude = -122.023844; captureRadius = 10; duration = 78; initialDepth = 580.893800; finalDepth = 565.498585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.354964 # Actual altitude: 55.354964 # Commanded vehicle depth:565.498585 # Seafloor depth:-619.696690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 630.893800 meters looking forward 100.000000 meters along route # Maximum depth: 650.237438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.893800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794877; longitude = -122.024628; captureRadius = 10; duration = 78; initialDepth = 598.587137; finalDepth = 580.893800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6973919999999 # Actual altitude: 55.6973919999999 # Commanded vehicle depth:580.8938 # Seafloor depth:-636.591192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 648.587137 meters looking forward 100.000000 meters along route # Maximum depth: 650.759113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.587137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794593; longitude = -122.025413; captureRadius = 10; duration = 78; initialDepth = 591.342095; finalDepth = 598.587137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6973919999999 # Actual altitude: 55.6973919999999 # Commanded vehicle depth:598.587137 # Seafloor depth:-650.576025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 641.342095 meters looking forward 100.000000 meters along route # Maximum depth: 650.102734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.342095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794308; longitude = -122.026197; captureRadius = 10; duration = 78; initialDepth = 586.144322; finalDepth = 591.342095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.705321 # Actual altitude: 58.705321 # Commanded vehicle depth:591.342095 # Seafloor depth:-650.047416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 636.144322 meters looking forward 100.000000 meters along route # Maximum depth: 643.831629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.144322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794024; longitude = -122.026982; captureRadius = 10; duration = 78; initialDepth = 586.098071; finalDepth = 586.144322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.705321 # Actual altitude: 58.705321 # Commanded vehicle depth:586.144322 # Seafloor depth:-641.316881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 636.098071 meters looking forward 100.000000 meters along route # Maximum depth: 648.844503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.098071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793739; longitude = -122.027767; captureRadius = 10; duration = 78; initialDepth = 594.610331; finalDepth = 586.098071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.172559 # Actual altitude: 55.172559 # Commanded vehicle depth:586.098071 # Seafloor depth:-636.098071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 644.610331 meters looking forward 100.000000 meters along route # Maximum depth: 650.796496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.610331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793454; longitude = -122.028551; captureRadius = 10; duration = 78; initialDepth = 587.938494; finalDepth = 594.610331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.777815 # Actual altitude: 54.777815 # Commanded vehicle depth:594.610331 # Seafloor depth:-649.388146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 637.938494 meters looking forward 100.000000 meters along route # Maximum depth: 649.368044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.938494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793168; longitude = -122.029340; captureRadius = 10; duration = 78; initialDepth = 562.753412; finalDepth = 587.938494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.903611 # Actual altitude: 59.903611 # Commanded vehicle depth:587.938494 # Seafloor depth:-647.842105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 612.753412 meters looking forward 100.000000 meters along route # Maximum depth: 641.631298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.753412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792885; longitude = -122.030121; captureRadius = 10; duration = 78; initialDepth = 530.815964; finalDepth = 562.753412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4561629999999 # Actual altitude: 74.4561629999999 # Commanded vehicle depth:562.753412 # Seafloor depth:-637.209575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.78; MB_Bottom_Detect_Filter_Max_Range = 297.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 580.815964 meters looking forward 100.000000 meters along route # Maximum depth: 620.126793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.815964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792601; longitude = -122.030905; captureRadius = 10; duration = 78; initialDepth = 504.538066; finalDepth = 530.815964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.839537 # Actual altitude: 78.839537 # Commanded vehicle depth:530.815964 # Seafloor depth:-609.655501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.36; 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 = 315.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 78.360397 meters # Minimum depth: 554.538066 meters looking forward 100.000000 meters along route # Maximum depth: 585.958196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.538066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792312; longitude = -122.031701; captureRadius = 10; duration = 78; initialDepth = 503.262009; finalDepth = 504.538066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.839537 # Actual altitude: 78.839537 # Commanded vehicle depth:504.538066 # Seafloor depth:-580.534550 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.36; 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 = 315.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.36; 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 23 # Segment length 78.360397 meters # Minimum depth: 553.262009 meters looking forward 100.000000 meters along route # Maximum depth: 565.728207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.262009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792021; longitude = -122.032503; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 513.927554; finalDepth = 503.262009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.996484 # Actual altitude: 75.996484 # Commanded vehicle depth:503.262009 # Seafloor depth:-553.262009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 303.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 78.360397 meters # Minimum depth: 563.927554 meters looking forward 100.000000 meters along route # Maximum depth: 566.970283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.927554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792628; longitude = -122.032841; captureRadius = 10; duration = 78; initialDepth = 513.897812; finalDepth = 513.927554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.986946 # Actual altitude: 51.986946 # Commanded vehicle depth:513.927554 # Seafloor depth:-565.914500 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 78.360397 meters # Minimum depth: 563.897812 meters looking forward 100.000000 meters along route # Maximum depth: 579.807845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.897812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793254; longitude = -122.033191; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 525.275019; finalDepth = 513.897812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.986946 # Actual altitude: 51.986946 # Commanded vehicle depth:513.897812 # Seafloor depth:-563.897812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 575.275019 meters looking forward 100.000000 meters along route # Maximum depth: 602.704458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.275019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793530; longitude = -122.032418; captureRadius = 10; duration = 78; initialDepth = 546.968608; finalDepth = 525.275019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.610065 # Actual altitude: 54.610065 # Commanded vehicle depth:525.275019 # Seafloor depth:-579.885084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 596.968608 meters looking forward 100.000000 meters along route # Maximum depth: 620.801943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.968608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793810; longitude = -122.031634; captureRadius = 10; duration = 78; initialDepth = 567.444158; finalDepth = 546.968608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.412747 # Actual altitude: 56.412747 # Commanded vehicle depth:546.968608 # Seafloor depth:-603.381355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 617.444158 meters looking forward 100.000000 meters along route # Maximum depth: 624.982192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.444158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794090; longitude = -122.030849; captureRadius = 10; duration = 78; initialDepth = 560.659637; finalDepth = 567.444158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.412747 # Actual altitude: 56.412747 # Commanded vehicle depth:567.444158 # Seafloor depth:-621.777825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 610.659637 meters looking forward 100.000000 meters along route # Maximum depth: 624.957740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.659637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794370; longitude = -122.030065; captureRadius = 10; duration = 78; initialDepth = 548.426649; finalDepth = 560.659637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.885008 # Actual altitude: 62.885008 # Commanded vehicle depth:560.659637 # Seafloor depth:-623.544645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 598.426649 meters looking forward 100.000000 meters along route # Maximum depth: 615.892975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.426649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794655; longitude = -122.029264; captureRadius = 10; duration = 78; initialDepth = 547.091194; finalDepth = 548.426649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.885008 # Actual altitude: 62.885008 # Commanded vehicle depth:548.426649 # Seafloor depth:-610.319376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 597.091194 meters looking forward 100.000000 meters along route # Maximum depth: 600.706155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.091194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794930; longitude = -122.028495; captureRadius = 10; duration = 78; initialDepth = 548.245899; finalDepth = 547.091194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.892727 # Actual altitude: 61.892727 # Commanded vehicle depth:547.091194 # Seafloor depth:-598.345551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 598.245899 meters looking forward 100.000000 meters along route # Maximum depth: 615.560748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.245899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795209; longitude = -122.027711; captureRadius = 10; duration = 78; initialDepth = 562.909006; finalDepth = 548.245899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.690523 # Actual altitude: 52.690523 # Commanded vehicle depth:548.245899 # Seafloor depth:-600.936422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 612.909006 meters looking forward 100.000000 meters along route # Maximum depth: 620.920485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.909006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795489; longitude = -122.026926; captureRadius = 10; duration = 78; initialDepth = 569.274007; finalDepth = 562.909006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.415834 # Actual altitude: 53.415834 # Commanded vehicle depth:562.909006 # Seafloor depth:-616.324840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 619.274007 meters looking forward 100.000000 meters along route # Maximum depth: 621.311433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.274007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795769; longitude = -122.026141; captureRadius = 10; duration = 78; initialDepth = 564.360041; finalDepth = 569.274007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.415834 # Actual altitude: 53.415834 # Commanded vehicle depth:569.274007 # Seafloor depth:-620.995009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 614.360041 meters looking forward 100.000000 meters along route # Maximum depth: 620.434754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.360041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796052; longitude = -122.025349; captureRadius = 10; duration = 78; initialDepth = 555.855526; finalDepth = 564.360041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.864182 # Actual altitude: 54.864182 # Commanded vehicle depth:564.360041 # Seafloor depth:-619.224223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 605.855526 meters looking forward 100.000000 meters along route # Maximum depth: 616.093544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.855526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796329; longitude = -122.024572; captureRadius = 10; duration = 78; initialDepth = 539.216896; finalDepth = 555.855526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2886109999999 # Actual altitude: 58.2886109999999 # Commanded vehicle depth:555.855526 # Seafloor depth:-614.144137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 589.216896 meters looking forward 100.000000 meters along route # Maximum depth: 607.954939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.216896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796609; longitude = -122.023788; captureRadius = 10; duration = 78; initialDepth = 501.611906; finalDepth = 539.216896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.127868 # Actual altitude: 66.127868 # Commanded vehicle depth:539.216896 # Seafloor depth:-605.344764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 264.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 551.611906 meters looking forward 100.000000 meters along route # Maximum depth: 593.577549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.611906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796889; longitude = -122.023003; captureRadius = 10; duration = 78; initialDepth = 495.777482; finalDepth = 501.611906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0527890000001 # Actual altitude: 85.0527890000001 # Commanded vehicle depth:501.611906 # Seafloor depth:-586.664695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 340.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 545.777482 meters looking forward 100.000000 meters along route # Maximum depth: 557.627747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.777482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797169; longitude = -122.022218; captureRadius = 10; duration = 78; initialDepth = 495.777482; finalDepth = 495.777482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0527890000001 # Actual altitude: 85.0527890000001 # Commanded vehicle depth:495.777482 # Seafloor depth:-550.928750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 340.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 545.777482 meters looking forward 100.000000 meters along route # Maximum depth: 548.453377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.777482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797449; longitude = -122.021434; captureRadius = 10; duration = 78; initialDepth = 497.768025; finalDepth = 495.777482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1512680000001 # Actual altitude: 55.1512680000001 # Commanded vehicle depth:495.777482 # Seafloor depth:-547.053447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 547.768025 meters looking forward 100.000000 meters along route # Maximum depth: 551.124096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.768025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797729; longitude = -122.020649; captureRadius = 10; duration = 78; initialDepth = 498.813226; finalDepth = 497.768025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.275965 # Actual altitude: 51.275965 # Commanded vehicle depth:497.768025 # Seafloor depth:-548.244291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 548.813226 meters looking forward 100.000000 meters along route # Maximum depth: 551.643734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.813226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798009; longitude = -122.019864; captureRadius = 10; duration = 78; initialDepth = 492.500501; finalDepth = 498.813226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.285045 # Actual altitude: 52.285045 # Commanded vehicle depth:498.813226 # Seafloor depth:-551.098271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 542.500501 meters looking forward 100.000000 meters along route # Maximum depth: 549.696148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.500501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798289; longitude = -122.019080; captureRadius = 10; duration = 78; initialDepth = 476.718775; finalDepth = 492.500501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.82051 # Actual altitude: 55.82051 # Commanded vehicle depth:492.500501 # Seafloor depth:-548.321011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 526.718775 meters looking forward 100.000000 meters along route # Maximum depth: 543.386732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.718775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798569; longitude = -122.018295; captureRadius = 10; duration = 78; initialDepth = 471.943598; finalDepth = 476.718775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0823899999999 # Actual altitude: 65.0823899999999 # Commanded vehicle depth:476.718775 # Seafloor depth:-541.801165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 260.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 521.943598 meters looking forward 100.000000 meters along route # Maximum depth: 531.472516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.943598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798849; longitude = -122.017511; captureRadius = 10; duration = 78; initialDepth = 473.214316; finalDepth = 471.943598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0823899999999 # Actual altitude: 65.0823899999999 # Commanded vehicle depth:471.943598 # Seafloor depth:-526.576435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 260.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 523.214316 meters looking forward 100.000000 meters along route # Maximum depth: 556.561335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.214316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799129; longitude = -122.016726; captureRadius = 10; duration = 78; initialDepth = 496.189425; finalDepth = 473.214316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2874079999999 # Actual altitude: 57.2874079999999 # Commanded vehicle depth:473.214316 # Seafloor depth:-530.501724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 552.877609 meters looking forward 100.000000 meters along route # Maximum depth: 557.031068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.189425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799409; longitude = -122.015941; captureRadius = 10; duration = 78; initialDepth = 502.337181; finalDepth = 496.189425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4750819000004 # Actual altitude: 60.4750819000004 # Commanded vehicle depth:496.1894251 # Seafloor depth:-556.664507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 241.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 552.337181 meters looking forward 100.000000 meters along route # Maximum depth: 554.848228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.337181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799689; longitude = -122.015157; captureRadius = 10; duration = 78; initialDepth = 499.235142; finalDepth = 502.337181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4750819000004 # Actual altitude: 60.4750819000004 # Commanded vehicle depth:502.337181 # Seafloor depth:-554.353868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 241.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 549.235142 meters looking forward 100.000000 meters along route # Maximum depth: 553.586551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.235142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799973; longitude = -122.014362; captureRadius = 10; duration = 78; initialDepth = 497.366193; finalDepth = 499.235142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424420000001 # Actual altitude: 53.0424420000001 # Commanded vehicle depth:499.235142 # Seafloor depth:-552.277584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 547.366193 meters looking forward 100.000000 meters along route # Maximum depth: 552.942899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.366193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800249; longitude = -122.013587; captureRadius = 10; duration = 78; initialDepth = 498.901482; finalDepth = 497.366193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424420000001 # Actual altitude: 53.0424420000001 # Commanded vehicle depth:497.366193 # Seafloor depth:-549.147304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 548.901482 meters looking forward 100.000000 meters along route # Maximum depth: 567.820200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.901482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800529; longitude = -122.012803; captureRadius = 10; duration = 78; initialDepth = 514.716343; finalDepth = 498.901482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.447482 # Actual altitude: 55.447482 # Commanded vehicle depth:498.901482 # Seafloor depth:-554.348964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 564.716343 meters looking forward 100.000000 meters along route # Maximum depth: 573.013407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.716343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800809; longitude = -122.012018; captureRadius = 10; duration = 78; initialDepth = 505.576560; finalDepth = 514.716343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.447482 # Actual altitude: 55.447482 # Commanded vehicle depth:514.716343 # Seafloor depth:-568.623604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 555.576560 meters looking forward 100.000000 meters along route # Maximum depth: 573.013407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.576560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801089; longitude = -122.011234; captureRadius = 10; duration = 78; initialDepth = 488.358979; finalDepth = 505.576560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2156560000001 # Actual altitude: 66.2156560000001 # Commanded vehicle depth:505.57656 # Seafloor depth:-571.792216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 264.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 538.358979 meters looking forward 100.000000 meters along route # Maximum depth: 561.879036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.358979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801369; longitude = -122.010447; captureRadius = 10; duration = 78; initialDepth = 487.854948; finalDepth = 488.358979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1460460000001 # Actual altitude: 67.1460460000001 # Commanded vehicle depth:488.358979 # Seafloor depth:-555.505025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 268.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 537.854948 meters looking forward 100.000000 meters along route # Maximum depth: 542.192231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.854948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801649; longitude = -122.009664; captureRadius = 10; duration = 78; initialDepth = 481.695245; finalDepth = 487.854948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1460460000001 # Actual altitude: 67.1460460000001 # Commanded vehicle depth:487.854948 # Seafloor depth:-537.966008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 268.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 531.695245 meters looking forward 100.000000 meters along route # Maximum depth: 542.393277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.695245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801929; longitude = -122.008880; captureRadius = 10; duration = 78; initialDepth = 467.485861; finalDepth = 481.695245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.698032 # Actual altitude: 60.698032 # Commanded vehicle depth:481.695245 # Seafloor depth:-542.393277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 242.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 517.485861 meters looking forward 100.000000 meters along route # Maximum depth: 534.529920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.485861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802209; longitude = -122.008095; captureRadius = 10; duration = 78; initialDepth = 457.911836; finalDepth = 467.485861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.883047 # Actual altitude: 62.883047 # Commanded vehicle depth:467.485861 # Seafloor depth:-530.368908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 507.911836 meters looking forward 100.000000 meters along route # Maximum depth: 519.457687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.911836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802489; longitude = -122.007310; captureRadius = 10; duration = 78; initialDepth = 452.080506; finalDepth = 457.911836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.883047 # Actual altitude: 62.883047 # Commanded vehicle depth:457.911836 # Seafloor depth:-516.829067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 502.080506 meters looking forward 100.000000 meters along route # Maximum depth: 510.480162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.080506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802769; longitude = -122.006526; captureRadius = 10; duration = 78; initialDepth = 444.301709; finalDepth = 452.080506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.917231 # Actual altitude: 58.917231 # Commanded vehicle depth:452.080506 # Seafloor depth:-507.843058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 494.301709 meters looking forward 100.000000 meters along route # Maximum depth: 503.481500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.301709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803049; longitude = -122.005741; captureRadius = 10; duration = 78; initialDepth = 436.080981; finalDepth = 444.301709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.622464 # Actual altitude: 57.622464 # Commanded vehicle depth:444.301709 # Seafloor depth:-501.924173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 230.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 486.080981 meters looking forward 100.000000 meters along route # Maximum depth: 496.134485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.080981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803329; longitude = -122.004957; captureRadius = 10; duration = 78; initialDepth = 427.459798; finalDepth = 436.080981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.89265 # Actual altitude: 57.89265 # Commanded vehicle depth:436.080981 # Seafloor depth:-493.973631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 477.459798 meters looking forward 100.000000 meters along route # Maximum depth: 487.882128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.459798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803609; longitude = -122.004172; captureRadius = 10; duration = 78; initialDepth = 414.949925; finalDepth = 427.459798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.513409 # Actual altitude: 58.513409 # Commanded vehicle depth:427.459798 # Seafloor depth:-485.973207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 464.949925 meters looking forward 100.000000 meters along route # Maximum depth: 480.171496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.949925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803893; longitude = -122.003375; captureRadius = 10; duration = 78; initialDepth = 391.685684; finalDepth = 414.949925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.381669 # Actual altitude: 62.381669 # Commanded vehicle depth:414.949925 # Seafloor depth:-477.331594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 441.685684 meters looking forward 100.000000 meters along route # Maximum depth: 468.321121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.685684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804169; longitude = -122.002603; captureRadius = 10; duration = 78; initialDepth = 384.869952; finalDepth = 391.685684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.082468 # Actual altitude: 73.082468 # Commanded vehicle depth:391.685684 # Seafloor depth:-464.768152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 292.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 434.869952 meters looking forward 100.000000 meters along route # Maximum depth: 450.705462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.869952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804448; longitude = -122.001818; captureRadius = 10; duration = 78; initialDepth = 385.032807; finalDepth = 384.869952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.082468 # Actual altitude: 73.082468 # Commanded vehicle depth:384.869952 # Seafloor depth:-440.845816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 292.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 435.032807 meters looking forward 100.000000 meters along route # Maximum depth: 460.149472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.032807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804728; longitude = -122.001033; captureRadius = 10; duration = 78; initialDepth = 406.605732; finalDepth = 385.032807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.381115 # Actual altitude: 58.381115 # Commanded vehicle depth:385.032807 # Seafloor depth:-443.413922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 456.605732 meters looking forward 100.000000 meters along route # Maximum depth: 463.146832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.605732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805008; longitude = -122.000249; captureRadius = 10; duration = 78; initialDepth = 372.221023; finalDepth = 406.605732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.381115 # Actual altitude: 58.381115 # Commanded vehicle depth:406.605732 # Seafloor depth:-461.192424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 78.360397 meters # Minimum depth: 422.221023 meters looking forward 100.000000 meters along route # Maximum depth: 460.719960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.221023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805290; longitude = -121.999460; captureRadius = 10; duration = 78; initialDepth = 370.998970; finalDepth = 372.221023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.297979 # Actual altitude: 84.297979 # Commanded vehicle depth:372.221023 # Seafloor depth:-456.519002 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 337.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.19; 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 21 # Segment length 78.360397 meters # Minimum depth: 420.998970 meters looking forward 100.000000 meters along route # Maximum depth: 460.719960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.998970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805575; longitude = -121.998661; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 351.402900; finalDepth = 370.998970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.297979 # Actual altitude: 84.297979 # Commanded vehicle depth:370.99897 # Seafloor depth:-420.998970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 337.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 78.360397 meters # Minimum depth: 401.402900 meters looking forward 100.000000 meters along route # Maximum depth: 429.985078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.402900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805605; longitude = -121.998668; captureRadius = 10; duration = 78; initialDepth = 335.679412; finalDepth = 351.402900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.925629 # Actual altitude: 68.925629 # Commanded vehicle depth:351.4029 # Seafloor depth:-420.328529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 275.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 78.360397 meters # Minimum depth: 385.679412 meters looking forward 100.000000 meters along route # Maximum depth: 406.093669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.679412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806281; longitude = -121.998831; captureRadius = 10; duration = 78; initialDepth = 330.117155; finalDepth = 335.679412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 68.925629 # Actual altitude: 68.925629 # Commanded vehicle depth:335.679412 # Seafloor depth:-399.850559 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 275.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 78.360397 meters # Minimum depth: 380.117155 meters looking forward 100.000000 meters along route # Maximum depth: 394.518719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.117155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806972; longitude = -121.998997; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 330.117155; finalDepth = 330.117155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.171147 # Actual altitude: 64.171147 # Commanded vehicle depth:330.117155 # Seafloor depth:-385.561523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 256.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 380.117155 meters looking forward 100.000000 meters along route # Maximum depth: 409.719432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.117155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806845; longitude = -121.999352; captureRadius = 10; duration = 78; initialDepth = 351.580988; finalDepth = 330.117155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.444368 # Actual altitude: 55.444368 # Commanded vehicle depth:330.117155 # Seafloor depth:-382.392032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 401.580988 meters looking forward 100.000000 meters along route # Maximum depth: 429.525252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.580988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806564; longitude = -122.000137; captureRadius = 10; duration = 78; initialDepth = 350.817299; finalDepth = 351.580988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.099011 # Actual altitude: 62.099011 # Commanded vehicle depth:351.580988 # Seafloor depth:-413.679999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 400.817299 meters looking forward 100.000000 meters along route # Maximum depth: 429.525252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.817299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806281; longitude = -122.000927; captureRadius = 10; duration = 78; initialDepth = 346.800745; finalDepth = 350.817299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.356822 # Actual altitude: 77.356822 # Commanded vehicle depth:350.817299 # Seafloor depth:-428.174121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 309.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 396.800745 meters looking forward 100.000000 meters along route # Maximum depth: 422.989426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.800745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806002; longitude = -122.001706; captureRadius = 10; duration = 78; initialDepth = 362.925208; finalDepth = 346.800745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.356822 # Actual altitude: 77.356822 # Commanded vehicle depth:346.800745 # Seafloor depth:-400.073652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 309.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 412.925208 meters looking forward 100.000000 meters along route # Maximum depth: 452.662811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.925208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805722; longitude = -122.002491; captureRadius = 10; duration = 78; initialDepth = 385.910175; finalDepth = 362.925208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.217212 # Actual altitude: 63.217212 # Commanded vehicle depth:362.925208 # Seafloor depth:-426.142420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 447.310653 meters looking forward 100.000000 meters along route # Maximum depth: 467.133726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.910175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805441; longitude = -122.003275; captureRadius = 10; duration = 78; initialDepth = 409.334218; finalDepth = 385.910175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0123125999995 # Actual altitude: 68.0123125999995 # Commanded vehicle depth:385.9101754 # Seafloor depth:-453.922488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 272.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 465.078786 meters looking forward 100.000000 meters along route # Maximum depth: 476.502722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.334218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805155; longitude = -122.004075; captureRadius = 10; duration = 78; initialDepth = 425.236928; finalDepth = 409.334218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0123125999995 # Actual altitude: 68.0123125999995 # Commanded vehicle depth:409.3342183 # Seafloor depth:-467.297111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 272.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 475.236928 meters looking forward 100.000000 meters along route # Maximum depth: 483.279486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.236928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804879; longitude = -122.004845; captureRadius = 10; duration = 78; initialDepth = 431.161969; finalDepth = 425.236928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9628926999997 # Actual altitude: 57.9628926999997 # Commanded vehicle depth:425.236928 # Seafloor depth:-476.526876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 481.161969 meters looking forward 100.000000 meters along route # Maximum depth: 487.869045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.161969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804598; longitude = -122.005629; captureRadius = 10; duration = 78; initialDepth = 437.246528; finalDepth = 431.161969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.778062 # Actual altitude: 52.778062 # Commanded vehicle depth:431.161969 # Seafloor depth:-483.940031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 487.246528 meters looking forward 100.000000 meters along route # Maximum depth: 493.339020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.246528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804318; longitude = -122.006414; captureRadius = 10; duration = 78; initialDepth = 442.352012; finalDepth = 437.246528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.778062 # Actual altitude: 52.778062 # Commanded vehicle depth:437.246528 # Seafloor depth:-488.303159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 492.352012 meters looking forward 100.000000 meters along route # Maximum depth: 496.931303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.352012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804037; longitude = -122.007198; captureRadius = 10; duration = 78; initialDepth = 446.001269; finalDepth = 442.352012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.183651 # Actual altitude: 51.183651 # Commanded vehicle depth:442.352012 # Seafloor depth:-493.535663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 496.001269 meters looking forward 100.000000 meters along route # Maximum depth: 498.308097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.001269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803756; longitude = -122.007983; captureRadius = 10; duration = 78; initialDepth = 447.898363; finalDepth = 446.001269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.183651 # Actual altitude: 51.183651 # Commanded vehicle depth:446.001269 # Seafloor depth:-496.946074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 497.898363 meters looking forward 100.000000 meters along route # Maximum depth: 503.154497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.898363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803475; longitude = -122.008768; captureRadius = 10; duration = 78; initialDepth = 451.171976; finalDepth = 447.898363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.944805 # Actual altitude: 50.944805 # Commanded vehicle depth:447.898363 # Seafloor depth:-498.190940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 501.171976 meters looking forward 100.000000 meters along route # Maximum depth: 514.284984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.171976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803194; longitude = -122.009552; captureRadius = 10; duration = 78; initialDepth = 461.853930; finalDepth = 451.171976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.316428 # Actual altitude: 53.316428 # Commanded vehicle depth:451.171976 # Seafloor depth:-504.488404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 511.853930 meters looking forward 100.000000 meters along route # Maximum depth: 527.721196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.853930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802914; longitude = -122.010337; captureRadius = 10; duration = 78; initialDepth = 476.452932; finalDepth = 461.853930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.904467 # Actual altitude: 53.904467 # Commanded vehicle depth:461.85393 # Seafloor depth:-515.758397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 526.452932 meters looking forward 100.000000 meters along route # Maximum depth: 539.971680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.452932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802631; longitude = -122.011126; captureRadius = 10; duration = 78; initialDepth = 485.867359; finalDepth = 476.452932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.904467 # Actual altitude: 53.904467 # Commanded vehicle depth:476.452932 # Seafloor depth:-527.754103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 535.867359 meters looking forward 100.000000 meters along route # Maximum depth: 544.962759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.867359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802352; longitude = -122.011906; captureRadius = 10; duration = 78; initialDepth = 489.296387; finalDepth = 485.867359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6014290000001 # Actual altitude: 54.6014290000001 # Commanded vehicle depth:485.867359 # Seafloor depth:-540.468788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 539.296387 meters looking forward 100.000000 meters along route # Maximum depth: 546.198564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.296387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802071; longitude = -122.012691; captureRadius = 10; duration = 78; initialDepth = 475.535227; finalDepth = 489.296387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.71398 # Actual altitude: 55.71398 # Commanded vehicle depth:489.296387 # Seafloor depth:-545.010367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 525.535227 meters looking forward 100.000000 meters along route # Maximum depth: 542.466829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.535227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801790; longitude = -122.013475; captureRadius = 10; duration = 78; initialDepth = 473.575034; finalDepth = 475.535227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.836984 # Actual altitude: 62.836984 # Commanded vehicle depth:475.535227 # Seafloor depth:-538.372211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 251.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 523.575034 meters looking forward 100.000000 meters along route # Maximum depth: 527.442349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.575034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801505; longitude = -122.014273; captureRadius = 10; duration = 78; initialDepth = 466.933798; finalDepth = 473.575034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.836984 # Actual altitude: 62.836984 # Commanded vehicle depth:473.575034 # Seafloor depth:-525.401245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 251.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 516.933798 meters looking forward 100.000000 meters along route # Maximum depth: 524.606222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.933798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801229; longitude = -122.015045; captureRadius = 10; duration = 78; initialDepth = 455.261572; finalDepth = 466.933798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.672424 # Actual altitude: 57.672424 # Commanded vehicle depth:466.933798 # Seafloor depth:-524.606222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 505.261572 meters looking forward 100.000000 meters along route # Maximum depth: 520.465350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.261572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800948; longitude = -122.015829; captureRadius = 10; duration = 78; initialDepth = 454.837059; finalDepth = 455.261572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.058185 # Actual altitude: 61.058185 # Commanded vehicle depth:455.261572 # Seafloor depth:-516.319757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 244.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 504.837059 meters looking forward 100.000000 meters along route # Maximum depth: 509.322944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.837059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800667; longitude = -122.016614; captureRadius = 10; duration = 78; initialDepth = 457.692857; finalDepth = 454.837059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.058185 # Actual altitude: 61.058185 # Commanded vehicle depth:454.837059 # Seafloor depth:-505.056298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 244.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 507.692857 meters looking forward 100.000000 meters along route # Maximum depth: 523.112578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.692857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800386; longitude = -122.017398; captureRadius = 10; duration = 78; initialDepth = 470.124694; finalDepth = 457.692857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.423814 # Actual altitude: 52.423814 # Commanded vehicle depth:457.692857 # Seafloor depth:-510.116671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 520.124694 meters looking forward 100.000000 meters along route # Maximum depth: 526.477445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.124694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800105; longitude = -122.018183; captureRadius = 10; duration = 78; initialDepth = 476.228842; finalDepth = 470.124694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.088397 # Actual altitude: 53.088397 # Commanded vehicle depth:470.124694 # Seafloor depth:-523.213091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 526.228842 meters looking forward 100.000000 meters along route # Maximum depth: 527.310889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.228842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799825; longitude = -122.018968; captureRadius = 10; duration = 78; initialDepth = 471.892317; finalDepth = 476.228842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.088397 # Actual altitude: 53.088397 # Commanded vehicle depth:476.228842 # Seafloor depth:-526.304343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 521.892317 meters looking forward 100.000000 meters along route # Maximum depth: 527.228334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.892317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799544; longitude = -122.019752; captureRadius = 10; duration = 78; initialDepth = 466.163670; finalDepth = 471.892317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7641639999999 # Actual altitude: 54.7641639999999 # Commanded vehicle depth:471.892317 # Seafloor depth:-526.656481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 516.163670 meters looking forward 100.000000 meters along route # Maximum depth: 522.828363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.163670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799263; longitude = -122.020537; captureRadius = 10; duration = 78; initialDepth = 466.163670; finalDepth = 466.163670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.077578 # Actual altitude: 55.077578 # Commanded vehicle depth:466.16367 # Seafloor depth:-521.241248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 516.163670 meters looking forward 100.000000 meters along route # Maximum depth: 520.191681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.163670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798981; longitude = -122.021324; captureRadius = 10; duration = 78; initialDepth = 468.326677; finalDepth = 466.163670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.077578 # Actual altitude: 55.077578 # Commanded vehicle depth:466.16367 # Seafloor depth:-516.175975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 518.326677 meters looking forward 100.000000 meters along route # Maximum depth: 546.073700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.326677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798701; longitude = -122.022106; captureRadius = 10; duration = 78; initialDepth = 487.456848; finalDepth = 468.326677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.185696 # Actual altitude: 52.185696 # Commanded vehicle depth:468.326677 # Seafloor depth:-520.512373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 537.456848 meters looking forward 100.000000 meters along route # Maximum depth: 574.742950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.456848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798421; longitude = -122.022891; captureRadius = 10; duration = 78; initialDepth = 510.443542; finalDepth = 487.456848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1107029999999 # Actual altitude: 61.1107029999999 # Commanded vehicle depth:487.456848 # Seafloor depth:-548.567551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 569.399819 meters looking forward 100.000000 meters along route # Maximum depth: 590.232925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.443542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798140; longitude = -122.023675; captureRadius = 10; duration = 78; initialDepth = 533.780687; finalDepth = 510.443542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1764444000002 # Actual altitude: 66.1764444000002 # Commanded vehicle depth:510.4435416 # Seafloor depth:-576.619986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 587.486482 meters looking forward 100.000000 meters along route # Maximum depth: 594.497561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.780687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797855; longitude = -122.024472; captureRadius = 10; duration = 78; initialDepth = 543.397029; finalDepth = 533.780687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1764444000002 # Actual altitude: 66.1764444000002 # Commanded vehicle depth:533.780686799999 # Seafloor depth:-590.272193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 593.397029 meters looking forward 100.000000 meters along route # Maximum depth: 598.169290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.397029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797578; longitude = -122.025245; captureRadius = 10; duration = 78; initialDepth = 546.842090; finalDepth = 543.397029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4915062000009 # Actual altitude: 56.4915062000009 # Commanded vehicle depth:543.397029 # Seafloor depth:-594.624543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 225.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 596.842090 meters looking forward 100.000000 meters along route # Maximum depth: 598.706970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.842090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797297; longitude = -122.026029; captureRadius = 10; duration = 78; initialDepth = 533.191533; finalDepth = 546.842090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.529178 # Actual altitude: 51.529178 # Commanded vehicle depth:546.84209 # Seafloor depth:-598.371268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 583.191533 meters looking forward 100.000000 meters along route # Maximum depth: 598.388414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.191533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797017; longitude = -122.026814; captureRadius = 10; duration = 78; initialDepth = 512.418624; finalDepth = 533.191533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.507764 # Actual altitude: 64.507764 # Commanded vehicle depth:533.191533 # Seafloor depth:-597.699297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 258.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 562.418624 meters looking forward 100.000000 meters along route # Maximum depth: 587.439034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.418624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796736; longitude = -122.027599; captureRadius = 10; duration = 78; initialDepth = 512.418624; finalDepth = 512.418624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.424905 # Actual altitude: 69.424905 # Commanded vehicle depth:512.418624 # Seafloor depth:-581.843529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.77; MB_Bottom_Detect_Filter_Max_Range = 277.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 562.418624 meters looking forward 100.000000 meters along route # Maximum depth: 567.946566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.418624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796455; longitude = -122.028383; captureRadius = 10; duration = 78; initialDepth = 515.991231; finalDepth = 512.418624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.424905 # Actual altitude: 69.424905 # Commanded vehicle depth:512.418624 # Seafloor depth:-562.458901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.77; MB_Bottom_Detect_Filter_Max_Range = 277.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 565.991231 meters looking forward 100.000000 meters along route # Maximum depth: 575.299842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.991231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796174; longitude = -122.029168; captureRadius = 10; duration = 78; initialDepth = 521.446489; finalDepth = 515.991231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.107245 # Actual altitude: 52.107245 # Commanded vehicle depth:515.991231 # Seafloor depth:-568.098476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 571.446489 meters looking forward 100.000000 meters along route # Maximum depth: 594.760182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.446489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795893; longitude = -122.029952; captureRadius = 10; duration = 78; initialDepth = 542.420665; finalDepth = 521.446489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.280213 # Actual altitude: 55.280213 # Commanded vehicle depth:521.446489 # Seafloor depth:-576.726702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 592.420665 meters looking forward 100.000000 meters along route # Maximum depth: 599.129928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.420665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795612; longitude = -122.030737; captureRadius = 10; duration = 78; initialDepth = 548.508941; finalDepth = 542.420665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.280213 # Actual altitude: 55.280213 # Commanded vehicle depth:542.420665 # Seafloor depth:-595.228850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 598.508941 meters looking forward 100.000000 meters along route # Maximum depth: 601.083381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.508941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795331; longitude = -122.031523; captureRadius = 10; duration = 78; initialDepth = 530.397547; finalDepth = 548.508941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.808185 # Actual altitude: 52.808185 # Commanded vehicle depth:548.508941 # Seafloor depth:-599.135045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 580.397547 meters looking forward 100.000000 meters along route # Maximum depth: 600.708047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.397547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795051; longitude = -122.032306; captureRadius = 10; duration = 78; initialDepth = 513.524192; finalDepth = 530.397547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.129501 # Actual altitude: 68.129501 # Commanded vehicle depth:530.397547 # Seafloor depth:-598.527048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 78.360397 meters # Minimum depth: 563.524192 meters looking forward 100.000000 meters along route # Maximum depth: 583.992411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.524192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794770; longitude = -122.033091; captureRadius = 10; duration = 78; initialDepth = 500.869815; finalDepth = 513.524192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.129501 # Actual altitude: 68.129501 # Commanded vehicle depth:513.524192 # Seafloor depth:-579.447182 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; 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 19 # Segment length 78.360397 meters # Minimum depth: 550.869815 meters looking forward 100.000000 meters along route # Maximum depth: 568.242745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.869815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794488; longitude = -122.033879; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 497.157525; finalDepth = 500.869815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.92299 # Actual altitude: 65.92299 # Commanded vehicle depth:500.869815 # Seafloor depth:-562.739868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 263.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 78.360397 meters # Minimum depth: 547.157525 meters looking forward 100.000000 meters along route # Maximum depth: 553.928427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.157525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795085; longitude = -122.034212; captureRadius = 10; duration = 78; initialDepth = 497.036392; finalDepth = 497.157525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 61.870053 # Actual altitude: 61.870053 # Commanded vehicle depth:497.157525 # Seafloor depth:-550.718316 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 247.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 78.360397 meters # Minimum depth: 547.036392 meters looking forward 100.000000 meters along route # Maximum depth: 559.541767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.036392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795722; longitude = -122.034567; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 503.968424; finalDepth = 497.036392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.560791 # Actual altitude: 53.560791 # Commanded vehicle depth:497.036392 # Seafloor depth:-547.036392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 553.968424 meters looking forward 100.000000 meters along route # Maximum depth: 567.187965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.968424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795872; longitude = -122.034151; captureRadius = 10; duration = 78; initialDepth = 505.643095; finalDepth = 503.968424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6668579999999 # Actual altitude: 55.6668579999999 # Commanded vehicle depth:503.968424 # Seafloor depth:-559.635282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 555.643095 meters looking forward 100.000000 meters along route # Maximum depth: 568.393329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.643095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796153; longitude = -122.033371; captureRadius = 10; duration = 78; initialDepth = 504.142554; finalDepth = 505.643095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.864946 # Actual altitude: 61.864946 # Commanded vehicle depth:505.643095 # Seafloor depth:-567.508041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 247.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 554.142554 meters looking forward 100.000000 meters along route # Maximum depth: 560.818391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.142554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796436; longitude = -122.032587; captureRadius = 10; duration = 78; initialDepth = 498.789663; finalDepth = 504.142554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.864946 # Actual altitude: 61.864946 # Commanded vehicle depth:504.142554 # Seafloor depth:-555.218731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 247.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 548.789663 meters looking forward 100.000000 meters along route # Maximum depth: 558.731893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.789663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796719; longitude = -122.031802; captureRadius = 10; duration = 78; initialDepth = 481.017680; finalDepth = 498.789663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.875946 # Actual altitude: 59.875946 # Commanded vehicle depth:498.789663 # Seafloor depth:-558.665609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 239.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 531.017680 meters looking forward 100.000000 meters along route # Maximum depth: 552.240285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.017680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797001; longitude = -122.031017; captureRadius = 10; duration = 78; initialDepth = 477.677153; finalDepth = 481.017680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6220549999999 # Actual altitude: 67.6220549999999 # Commanded vehicle depth:481.01768 # Seafloor depth:-548.639735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 270.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 527.677153 meters looking forward 100.000000 meters along route # Maximum depth: 545.641397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.677153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797284; longitude = -122.030233; captureRadius = 10; duration = 78; initialDepth = 486.029879; finalDepth = 477.677153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6220549999999 # Actual altitude: 67.6220549999999 # Commanded vehicle depth:477.677153 # Seafloor depth:-529.919953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 270.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 536.029879 meters looking forward 100.000000 meters along route # Maximum depth: 561.257168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.029879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797567; longitude = -122.029448; captureRadius = 10; duration = 78; initialDepth = 509.276291; finalDepth = 486.029879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.330429 # Actual altitude: 62.330429 # Commanded vehicle depth:486.029879 # Seafloor depth:-548.360308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 249.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 559.276291 meters looking forward 100.000000 meters along route # Maximum depth: 566.809585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.276291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797855; longitude = -122.028650; captureRadius = 10; duration = 78; initialDepth = 514.780874; finalDepth = 509.276291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.330429 # Actual altitude: 62.330429 # Commanded vehicle depth:509.276291 # Seafloor depth:-561.385418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 249.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 564.780874 meters looking forward 100.000000 meters along route # Maximum depth: 570.919954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.780874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798133; longitude = -122.027879; captureRadius = 10; duration = 78; initialDepth = 518.732482; finalDepth = 514.780874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.291895 # Actual altitude: 52.291895 # Commanded vehicle depth:514.780874 # Seafloor depth:-567.072769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 568.732482 meters looking forward 100.000000 meters along route # Maximum depth: 570.919954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.732482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798415; longitude = -122.027094; captureRadius = 10; duration = 78; initialDepth = 513.546261; finalDepth = 518.732482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.291895 # Actual altitude: 52.291895 # Commanded vehicle depth:518.732482 # Seafloor depth:-570.780898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 563.546261 meters looking forward 100.000000 meters along route # Maximum depth: 569.168919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.546261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798698; longitude = -122.026310; captureRadius = 10; duration = 78; initialDepth = 505.608891; finalDepth = 513.546261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3000970000001 # Actual altitude: 55.3000970000001 # Commanded vehicle depth:513.546261 # Seafloor depth:-568.846358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 555.608891 meters looking forward 100.000000 meters along route # Maximum depth: 567.137559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.608891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798981; longitude = -122.025524; captureRadius = 10; duration = 78; initialDepth = 491.088493; finalDepth = 505.608891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.919989 # Actual altitude: 57.919989 # Commanded vehicle depth:505.608891 # Seafloor depth:-563.528880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 541.088493 meters looking forward 100.000000 meters along route # Maximum depth: 557.032115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.088493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799264; longitude = -122.024740; captureRadius = 10; duration = 78; initialDepth = 473.408128; finalDepth = 491.088493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.317171 # Actual altitude: 64.317171 # Commanded vehicle depth:491.088493 # Seafloor depth:-555.405664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 257.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 523.408128 meters looking forward 100.000000 meters along route # Maximum depth: 546.518387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.408128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799546; longitude = -122.023956; captureRadius = 10; duration = 78; initialDepth = 460.258025; finalDepth = 473.408128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3400339999999 # Actual altitude: 66.3400339999999 # Commanded vehicle depth:473.408128 # Seafloor depth:-539.748162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 265.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 510.258025 meters looking forward 100.000000 meters along route # Maximum depth: 526.900702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.258025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799829; longitude = -122.023171; captureRadius = 10; duration = 78; initialDepth = 447.932711; finalDepth = 460.258025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3400339999999 # Actual altitude: 66.3400339999999 # Commanded vehicle depth:460.258025 # Seafloor depth:-522.160665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 265.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 497.932711 meters looking forward 100.000000 meters along route # Maximum depth: 513.296230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.932711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800112; longitude = -122.022386; captureRadius = 10; duration = 78; initialDepth = 447.869129; finalDepth = 447.932711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.123108 # Actual altitude: 62.123108 # Commanded vehicle depth:447.932711 # Seafloor depth:-510.055819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 497.869129 meters looking forward 100.000000 meters along route # Maximum depth: 503.361754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.869129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800395; longitude = -122.021602; captureRadius = 10; duration = 78; initialDepth = 452.209359; finalDepth = 447.869129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.123108 # Actual altitude: 62.123108 # Commanded vehicle depth:447.869129 # Seafloor depth:-497.906888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 502.209359 meters looking forward 100.000000 meters along route # Maximum depth: 509.398830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.209359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800678; longitude = -122.020817; captureRadius = 10; duration = 78; initialDepth = 456.210749; finalDepth = 452.209359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.46348 # Actual altitude: 51.46348 # Commanded vehicle depth:452.209359 # Seafloor depth:-503.672839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 506.210749 meters looking forward 100.000000 meters along route # Maximum depth: 516.655922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.210749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800964; longitude = -122.020023; captureRadius = 10; duration = 78; initialDepth = 447.941532; finalDepth = 456.210749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.331532 # Actual altitude: 53.331532 # Commanded vehicle depth:456.210749 # Seafloor depth:-509.542281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 497.941532 meters looking forward 100.000000 meters along route # Maximum depth: 516.655922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.941532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801243; longitude = -122.019248; captureRadius = 10; duration = 78; initialDepth = 440.404564; finalDepth = 447.941532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.327666 # Actual altitude: 67.327666 # Commanded vehicle depth:447.941532 # Seafloor depth:-515.269198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 269.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 490.404564 meters looking forward 100.000000 meters along route # Maximum depth: 501.861907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.404564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801526; longitude = -122.018463; captureRadius = 10; duration = 78; initialDepth = 421.272677; finalDepth = 440.404564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.327666 # Actual altitude: 67.327666 # Commanded vehicle depth:440.404564 # Seafloor depth:-496.865961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 269.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 471.272677 meters looking forward 100.000000 meters along route # Maximum depth: 493.654656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.272677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801809; longitude = -122.017679; captureRadius = 10; duration = 78; initialDepth = 419.179492; finalDepth = 421.272677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.457133 # Actual altitude: 68.457133 # Commanded vehicle depth:421.272677 # Seafloor depth:-489.729810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 469.179492 meters looking forward 100.000000 meters along route # Maximum depth: 476.098267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.179492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802092; longitude = -122.016894; captureRadius = 10; duration = 78; initialDepth = 420.646642; finalDepth = 419.179492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.457133 # Actual altitude: 68.457133 # Commanded vehicle depth:419.179492 # Seafloor depth:-471.187822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 470.646642 meters looking forward 100.000000 meters along route # Maximum depth: 512.169644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.646642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802374; longitude = -122.016109; captureRadius = 10; duration = 78; initialDepth = 443.659199; finalDepth = 420.646642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.286856 # Actual altitude: 54.286856 # Commanded vehicle depth:420.646642 # Seafloor depth:-474.933498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 503.326157 meters looking forward 100.000000 meters along route # Maximum depth: 525.163234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.659199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802657; longitude = -122.015325; captureRadius = 10; duration = 78; initialDepth = 466.671690; finalDepth = 443.659199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8276265000005 # Actual altitude: 69.8276265000005 # Commanded vehicle depth:443.659199499999 # Seafloor depth:-513.486826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 279.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 523.462072 meters looking forward 100.000000 meters along route # Maximum depth: 528.669933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.671690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802940; longitude = -122.014540; captureRadius = 10; duration = 78; initialDepth = 473.900354; finalDepth = 466.671690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8276265000005 # Actual altitude: 69.8276265000005 # Commanded vehicle depth:466.671690099999 # Seafloor depth:-525.501735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 279.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 523.900354 meters looking forward 100.000000 meters along route # Maximum depth: 528.283785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.900354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803223; longitude = -122.013756; captureRadius = 10; duration = 78; initialDepth = 459.787816; finalDepth = 473.900354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8300449000009 # Actual altitude: 58.8300449000009 # Commanded vehicle depth:473.900354 # Seafloor depth:-527.123568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 509.787816 meters looking forward 100.000000 meters along route # Maximum depth: 524.920287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.787816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803506; longitude = -122.012971; captureRadius = 10; duration = 78; initialDepth = 450.898206; finalDepth = 459.787816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.482276 # Actual altitude: 63.482276 # Commanded vehicle depth:459.787816 # Seafloor depth:-523.270092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 500.898206 meters looking forward 100.000000 meters along route # Maximum depth: 510.385842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.898206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803788; longitude = -122.012186; captureRadius = 10; duration = 78; initialDepth = 439.573782; finalDepth = 450.898206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.482276 # Actual altitude: 63.482276 # Commanded vehicle depth:450.898206 # Seafloor depth:-510.086600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 489.573782 meters looking forward 100.000000 meters along route # Maximum depth: 505.017051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.573782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804073; longitude = -122.011396; captureRadius = 10; duration = 78; initialDepth = 432.877820; finalDepth = 439.573782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.255605 # Actual altitude: 61.255605 # Commanded vehicle depth:439.573782 # Seafloor depth:-500.829387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 245.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 482.877820 meters looking forward 100.000000 meters along route # Maximum depth: 492.679142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.877820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804354; longitude = -122.010617; captureRadius = 10; duration = 78; initialDepth = 427.293063; finalDepth = 432.877820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.255605 # Actual altitude: 61.255605 # Commanded vehicle depth:432.87782 # Seafloor depth:-489.210859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 245.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 477.293063 meters looking forward 100.000000 meters along route # Maximum depth: 483.990564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.293063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804637; longitude = -122.009832; captureRadius = 10; duration = 78; initialDepth = 424.125158; finalDepth = 427.293063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.333039 # Actual altitude: 56.333039 # Commanded vehicle depth:427.293063 # Seafloor depth:-482.272595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 474.125158 meters looking forward 100.000000 meters along route # Maximum depth: 479.220147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.125158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804920; longitude = -122.009048; captureRadius = 10; duration = 78; initialDepth = 423.711473; finalDepth = 424.125158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.979532 # Actual altitude: 54.979532 # Commanded vehicle depth:424.125158 # Seafloor depth:-476.624338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 473.711473 meters looking forward 100.000000 meters along route # Maximum depth: 475.110139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.711473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805202; longitude = -122.008263; captureRadius = 10; duration = 78; initialDepth = 421.731579; finalDepth = 423.711473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.49918 # Actual altitude: 52.49918 # Commanded vehicle depth:423.711473 # Seafloor depth:-474.539276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 471.731579 meters looking forward 100.000000 meters along route # Maximum depth: 474.355028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.731579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805485; longitude = -122.007479; captureRadius = 10; duration = 78; initialDepth = 418.756800; finalDepth = 421.731579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.874489 # Actual altitude: 51.874489 # Commanded vehicle depth:421.731579 # Seafloor depth:-473.606068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 468.756800 meters looking forward 100.000000 meters along route # Maximum depth: 472.432070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.756800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805768; longitude = -122.006694; captureRadius = 10; duration = 78; initialDepth = 412.802451; finalDepth = 418.756800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.711264 # Actual altitude: 52.711264 # Commanded vehicle depth:418.7568 # Seafloor depth:-471.468064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 462.802451 meters looking forward 100.000000 meters along route # Maximum depth: 469.415562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.802451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806056; longitude = -122.005895; captureRadius = 10; duration = 78; initialDepth = 398.479592; finalDepth = 412.802451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.087201 # Actual altitude: 56.087201 # Commanded vehicle depth:412.802451 # Seafloor depth:-468.889652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 448.479592 meters looking forward 100.000000 meters along route # Maximum depth: 464.902558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.479592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806333; longitude = -122.005125; captureRadius = 10; duration = 78; initialDepth = 367.241545; finalDepth = 398.479592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.067476 # Actual altitude: 64.067476 # Commanded vehicle depth:398.479592 # Seafloor depth:-462.547068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 256.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 417.241545 meters looking forward 100.000000 meters along route # Maximum depth: 453.057931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.241545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806616; longitude = -122.004340; captureRadius = 10; duration = 78; initialDepth = 330.321086; finalDepth = 367.241545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.308213 # Actual altitude: 79.308213 # Commanded vehicle depth:367.241545 # Seafloor depth:-446.549758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.23; 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 = 317.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 380.321086 meters looking forward 100.000000 meters along route # Maximum depth: 425.869380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.321086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806899; longitude = -122.003555; captureRadius = 10; duration = 78; initialDepth = 328.077298; finalDepth = 330.321086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.307457 # Actual altitude: 83.307457 # Commanded vehicle depth:330.321086 # Seafloor depth:-413.628543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.23; 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 = 333.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 378.077298 meters looking forward 100.000000 meters along route # Maximum depth: 386.903780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.077298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807182; longitude = -122.002769; captureRadius = 10; duration = 78; initialDepth = 330.081653; finalDepth = 328.077298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.307457 # Actual altitude: 83.307457 # Commanded vehicle depth:328.077298 # Seafloor depth:-380.314155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.23; 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 = 333.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 380.081653 meters looking forward 100.000000 meters along route # Maximum depth: 386.165668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.081653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807465; longitude = -122.001986; captureRadius = 10; duration = 78; initialDepth = 310.483254; finalDepth = 330.081653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.236857 # Actual altitude: 52.236857 # Commanded vehicle depth:330.081653 # Seafloor depth:-382.293221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 360.483254 meters looking forward 100.000000 meters along route # Maximum depth: 386.041711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.483254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807747; longitude = -122.001202; captureRadius = 10; duration = 78; initialDepth = 301.947113; finalDepth = 310.483254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.876504 # Actual altitude: 72.876504 # Commanded vehicle depth:310.483254 # Seafloor depth:-383.359758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.15; MB_Bottom_Detect_Filter_Max_Range = 291.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 351.947113 meters looking forward 100.000000 meters along route # Maximum depth: 366.905007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.947113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808030; longitude = -122.000417; captureRadius = 10; duration = 78; initialDepth = 304.153479; finalDepth = 301.947113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.876504 # Actual altitude: 72.876504 # Commanded vehicle depth:301.947113 # Seafloor depth:-357.947068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.15; MB_Bottom_Detect_Filter_Max_Range = 291.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 354.153479 meters looking forward 100.000000 meters along route # Maximum depth: 383.966021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.153479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808313; longitude = -121.999632; captureRadius = 10; duration = 78; initialDepth = 327.051446; finalDepth = 304.153479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.999955 # Actual altitude: 55.999955 # Commanded vehicle depth:304.153479 # Seafloor depth:-356.552832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 224.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 377.051446 meters looking forward 100.000000 meters along route # Maximum depth: 424.608576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.051446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808596; longitude = -121.998848; captureRadius = 10; duration = 78; initialDepth = 350.062534; finalDepth = 327.051446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.95976 # Actual altitude: 58.95976 # Commanded vehicle depth:327.051446 # Seafloor depth:-386.011206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 235.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 412.444881 meters looking forward 100.000000 meters along route # Maximum depth: 461.590673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.062534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808879; longitude = -121.998063; captureRadius = 10; duration = 78; initialDepth = 373.379111; finalDepth = 350.062534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8012769000003 # Actual altitude: 77.8012769000003 # Commanded vehicle depth:350.0625341 # Seafloor depth:-427.863811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.12; MB_Bottom_Detect_Filter_Max_Range = 311.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.360397 meters # Minimum depth: 456.406123 meters looking forward 100.000000 meters along route # Maximum depth: 489.728854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.379111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809165; longitude = -121.997268; captureRadius = 10; duration = 78; initialDepth = 396.637694; finalDepth = 373.379111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6148713000001 # Actual altitude: 88.6148713000001 # Commanded vehicle depth:373.3791107 # Seafloor depth:-461.993982 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 35.45; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 78.360397 meters # Minimum depth: 472.496245 meters looking forward 100.000000 meters along route # Maximum depth: 503.007451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.637694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809451; longitude = -121.996475; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 410.777566; finalDepth = 396.637694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1779949999997 # Actual altitude: 94.1779949999997 # Commanded vehicle depth:396.637694 # Seafloor depth:-490.815689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.67; 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 17 # Segment length 78.360397 meters # Minimum depth: 497.490180 meters looking forward 100.000000 meters along route # Maximum depth: 522.014915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.777566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809841; longitude = -121.996266; captureRadius = 10; duration = 78; initialDepth = 433.644874; finalDepth = 410.777566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1779949999997 # Actual altitude: 94.1779949999997 # Commanded vehicle depth:410.7775658 # Seafloor depth:-503.245538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.67; 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 17 # Segment length 78.360397 meters # Minimum depth: 516.680240 meters looking forward 100.000000 meters along route # Maximum depth: 548.736357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.644874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810472; longitude = -121.995927; captureRadius = 10; duration = 78; initialDepth = 456.512157; finalDepth = 433.644874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.4679722 # Actual altitude: 92.4679722 # Commanded vehicle depth:433.6448744 # Seafloor depth:-522.382690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 36.99; 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 17 # Segment length 78.360397 meters # Minimum depth: 541.302588 meters looking forward 100.000000 meters along route # Maximum depth: 565.684849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.512157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811103; longitude = -121.995589; captureRadius = 10; duration = 78; initialDepth = 479.934587; finalDepth = 456.512157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 92.8428298000006 # Actual altitude: 92.8428298000006 # Commanded vehicle depth:456.512157199999 # Seafloor depth:-549.354987 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.14; 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 16 # Segment length 78.360397 meters # Minimum depth: 550.989845 meters looking forward 100.000000 meters along route # Maximum depth: 565.819687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.934587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811749; longitude = -121.995242; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 466.185131; finalDepth = 479.934587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.8428298000006 # Actual altitude: 92.8428298000006 # Commanded vehicle depth:479.934587 # Seafloor depth:-565.819687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.14; 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 16 # Segment length 78.360397 meters # Minimum depth: 516.185131 meters looking forward 100.000000 meters along route # Maximum depth: 556.964507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.185131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811473; longitude = -121.995989; captureRadius = 10; duration = 78; initialDepth = 444.136697; finalDepth = 466.185131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8851000000001 # Actual altitude: 85.8851000000001 # Commanded vehicle depth:466.185131 # Seafloor depth:-548.014000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.54; 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 = 343.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 494.136697 meters looking forward 100.000000 meters along route # Maximum depth: 523.949716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.136697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811183; longitude = -121.996774; captureRadius = 10; duration = 78; initialDepth = 414.697249; finalDepth = 444.136697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8288690000001 # Actual altitude: 81.8288690000001 # Commanded vehicle depth:444.136697 # Seafloor depth:-515.363649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 327.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 464.697249 meters looking forward 100.000000 meters along route # Maximum depth: 499.511207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.697249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810892; longitude = -121.997559; captureRadius = 10; duration = 78; initialDepth = 383.784461; finalDepth = 414.697249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.538359 # Actual altitude: 77.538359 # Commanded vehicle depth:414.697249 # Seafloor depth:-492.235608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.15; 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 = 310.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 433.784461 meters looking forward 100.000000 meters along route # Maximum depth: 473.011628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.784461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810602; longitude = -121.998343; captureRadius = 10; duration = 78; initialDepth = 341.208811; finalDepth = 383.784461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.607911 # Actual altitude: 80.607911 # Commanded vehicle depth:383.784461 # Seafloor depth:-464.392372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 322.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 391.208811 meters looking forward 100.000000 meters along route # Maximum depth: 442.005410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.208811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810312; longitude = -121.999128; captureRadius = 10; duration = 78; initialDepth = 296.569809; finalDepth = 341.208811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.880909 # Actual altitude: 89.880909 # Commanded vehicle depth:341.208811 # Seafloor depth:-431.089720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 35.95; 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 16 # Segment length 78.360397 meters # Minimum depth: 346.569809 meters looking forward 100.000000 meters along route # Maximum depth: 401.161915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.569809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810021; longitude = -121.999915; captureRadius = 10; duration = 78; initialDepth = 274.116134; finalDepth = 296.569809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.530058 # Actual altitude: 94.530058 # Commanded vehicle depth:296.569809 # Seafloor depth:-391.099867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 324.116134 meters looking forward 100.000000 meters along route # Maximum depth: 359.163712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.116134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809732; longitude = -122.000697; captureRadius = 10; duration = 78; initialDepth = 274.052368; finalDepth = 274.116134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.530058 # Actual altitude: 94.530058 # Commanded vehicle depth:274.116134 # Seafloor depth:-344.336567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 37.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 324.052368 meters looking forward 100.000000 meters along route # Maximum depth: 335.996401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.052368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809436; longitude = -122.001499; captureRadius = 10; duration = 78; initialDepth = 283.783096; finalDepth = 274.052368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.220433 # Actual altitude: 70.220433 # Commanded vehicle depth:274.052368 # Seafloor depth:-324.063725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.09; MB_Bottom_Detect_Filter_Max_Range = 280.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 333.783096 meters looking forward 100.000000 meters along route # Maximum depth: 345.703466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.783096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809152; longitude = -122.002266; captureRadius = 10; duration = 78; initialDepth = 292.148609; finalDepth = 283.783096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.081209 # Actual altitude: 52.081209 # Commanded vehicle depth:283.783096 # Seafloor depth:-335.864305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 342.148609 meters looking forward 100.000000 meters along route # Maximum depth: 380.484146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.148609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808862; longitude = -122.003051; captureRadius = 10; duration = 78; initialDepth = 315.260217; finalDepth = 292.148609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.104562 # Actual altitude: 54.104562 # Commanded vehicle depth:292.148609 # Seafloor depth:-346.253171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 370.290940 meters looking forward 100.000000 meters along route # Maximum depth: 412.885959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.260217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808572; longitude = -122.003836; captureRadius = 10; duration = 78; initialDepth = 338.371894; finalDepth = 315.260217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4734425000002 # Actual altitude: 66.4734425000002 # Commanded vehicle depth:315.2602175 # Seafloor depth:-381.733660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 265.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 406.730880 meters looking forward 100.000000 meters along route # Maximum depth: 437.146721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.371894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808282; longitude = -122.004620; captureRadius = 10; duration = 78; initialDepth = 361.483639; finalDepth = 338.371894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9417436000002 # Actual altitude: 75.9417436000002 # Commanded vehicle depth:338.3718944 # Seafloor depth:-414.313638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 303.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 432.687227 meters looking forward 100.000000 meters along route # Maximum depth: 448.640396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.483639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807991; longitude = -122.005405; captureRadius = 10; duration = 78; initialDepth = 384.595453; finalDepth = 361.483639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9417436000002 # Actual altitude: 75.9417436000002 # Commanded vehicle depth:361.4836394 # Seafloor depth:-437.224410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 303.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 447.611517 meters looking forward 100.000000 meters along route # Maximum depth: 453.366266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.595453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807701; longitude = -122.006190; captureRadius = 10; duration = 78; initialDepth = 402.645353; finalDepth = 384.595453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7407706 # Actual altitude: 75.7407706 # Commanded vehicle depth:384.595452799999 # Seafloor depth:-448.489172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.96; 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 = 302.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 452.645353 meters looking forward 100.000000 meters along route # Maximum depth: 453.879768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.645353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807408; longitude = -122.006984; captureRadius = 10; duration = 78; initialDepth = 402.319311; finalDepth = 402.645353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8937192000008 # Actual altitude: 63.8937192000008 # Commanded vehicle depth:402.645353 # Seafloor depth:-453.148679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 255.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 452.319311 meters looking forward 100.000000 meters along route # Maximum depth: 454.191711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.319311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807121; longitude = -122.007759; captureRadius = 10; duration = 78; initialDepth = 396.659559; finalDepth = 402.319311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.188752 # Actual altitude: 51.188752 # Commanded vehicle depth:402.319311 # Seafloor depth:-453.508063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 446.659559 meters looking forward 100.000000 meters along route # Maximum depth: 453.400320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.659559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806831; longitude = -122.008543; captureRadius = 10; duration = 78; initialDepth = 396.530246; finalDepth = 396.659559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.168754 # Actual altitude: 55.168754 # Commanded vehicle depth:396.659559 # Seafloor depth:-451.828313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 446.530246 meters looking forward 100.000000 meters along route # Maximum depth: 452.119702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.530246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806541; longitude = -122.009328; captureRadius = 10; duration = 78; initialDepth = 400.162006; finalDepth = 396.530246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.168754 # Actual altitude: 55.168754 # Commanded vehicle depth:396.530246 # Seafloor depth:-446.783093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 450.162006 meters looking forward 100.000000 meters along route # Maximum depth: 461.119843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.162006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806251; longitude = -122.010113; captureRadius = 10; duration = 78; initialDepth = 408.587973; finalDepth = 400.162006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.047208 # Actual altitude: 52.047208 # Commanded vehicle depth:400.162006 # Seafloor depth:-452.209214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 458.587973 meters looking forward 100.000000 meters along route # Maximum depth: 472.201805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.587973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805961; longitude = -122.010897; captureRadius = 10; duration = 78; initialDepth = 419.555408; finalDepth = 408.587973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.725609 # Actual altitude: 52.725609 # Commanded vehicle depth:408.587973 # Seafloor depth:-461.313582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 469.555408 meters looking forward 100.000000 meters along route # Maximum depth: 480.828943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.555408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805671; longitude = -122.011682; captureRadius = 10; duration = 78; initialDepth = 429.315824; finalDepth = 419.555408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.305223 # Actual altitude: 53.305223 # Commanded vehicle depth:419.555408 # Seafloor depth:-472.860631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 479.315824 meters looking forward 100.000000 meters along route # Maximum depth: 481.128854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.315824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805380; longitude = -122.012468; captureRadius = 10; duration = 78; initialDepth = 427.024875; finalDepth = 429.315824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.305223 # Actual altitude: 53.305223 # Commanded vehicle depth:429.315824 # Seafloor depth:-480.817686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 477.024875 meters looking forward 100.000000 meters along route # Maximum depth: 481.417788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.024875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805090; longitude = -122.013251; captureRadius = 10; duration = 78; initialDepth = 425.748414; finalDepth = 427.024875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.488727 # Actual altitude: 52.488727 # Commanded vehicle depth:427.024875 # Seafloor depth:-479.513602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 475.748414 meters looking forward 100.000000 meters along route # Maximum depth: 484.365426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.748414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804794; longitude = -122.014053; captureRadius = 10; duration = 78; initialDepth = 429.707114; finalDepth = 425.748414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.488727 # Actual altitude: 52.488727 # Commanded vehicle depth:425.748414 # Seafloor depth:-476.821443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 479.707114 meters looking forward 100.000000 meters along route # Maximum depth: 485.596847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.707114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804510; longitude = -122.014820; captureRadius = 10; duration = 78; initialDepth = 398.907754; finalDepth = 429.707114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.870089 # Actual altitude: 54.870089 # Commanded vehicle depth:429.707114 # Seafloor depth:-484.577203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 448.907754 meters looking forward 100.000000 meters along route # Maximum depth: 483.288017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.907754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804220; longitude = -122.015605; captureRadius = 10; duration = 78; initialDepth = 391.335333; finalDepth = 398.907754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.638442 # Actual altitude: 78.638442 # Commanded vehicle depth:398.907754 # Seafloor depth:-477.546196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 314.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 441.335333 meters looking forward 100.000000 meters along route # Maximum depth: 457.103249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.335333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803930; longitude = -122.016390; captureRadius = 10; duration = 78; initialDepth = 389.229175; finalDepth = 391.335333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.638442 # Actual altitude: 78.638442 # Commanded vehicle depth:391.335333 # Seafloor depth:-448.415959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 314.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 439.229175 meters looking forward 100.000000 meters along route # Maximum depth: 451.554256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.229175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803640; longitude = -122.017174; captureRadius = 10; duration = 78; initialDepth = 394.022121; finalDepth = 389.229175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.080626 # Actual altitude: 57.080626 # Commanded vehicle depth:389.229175 # Seafloor depth:-441.050850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 444.022121 meters looking forward 100.000000 meters along route # Maximum depth: 471.219160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.022121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803350; longitude = -122.017959; captureRadius = 10; duration = 78; initialDepth = 417.135026; finalDepth = 394.022121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.800856 # Actual altitude: 57.800856 # Commanded vehicle depth:394.022121 # Seafloor depth:-451.822977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 468.145732 meters looking forward 100.000000 meters along route # Maximum depth: 479.108222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.135026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803060; longitude = -122.018744; captureRadius = 10; duration = 78; initialDepth = 426.813508; finalDepth = 417.135026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.800856 # Actual altitude: 57.800856 # Commanded vehicle depth:417.135026399999 # Seafloor depth:-471.828265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 476.813508 meters looking forward 100.000000 meters along route # Maximum depth: 487.971771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.813508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802766; longitude = -122.019537; captureRadius = 10; duration = 78; initialDepth = 436.853077; finalDepth = 426.813508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6932386000009 # Actual altitude: 54.6932386000009 # Commanded vehicle depth:426.813508 # Seafloor depth:-479.208516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 486.853077 meters looking forward 100.000000 meters along route # Maximum depth: 488.651879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.853077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802480; longitude = -122.020313; captureRadius = 10; duration = 78; initialDepth = 434.034163; finalDepth = 436.853077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.395008 # Actual altitude: 52.395008 # Commanded vehicle depth:436.853077 # Seafloor depth:-487.991826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 484.034163 meters looking forward 100.000000 meters along route # Maximum depth: 488.315183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.034163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802189; longitude = -122.021097; captureRadius = 10; duration = 78; initialDepth = 434.034163; finalDepth = 434.034163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.089652 # Actual altitude: 54.089652 # Commanded vehicle depth:434.034163 # Seafloor depth:-488.123815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 484.034163 meters looking forward 100.000000 meters along route # Maximum depth: 489.587041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.034163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801899; longitude = -122.021882; captureRadius = 10; duration = 78; initialDepth = 436.619320; finalDepth = 434.034163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.089652 # Actual altitude: 54.089652 # Commanded vehicle depth:434.034163 # Seafloor depth:-484.056789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 486.619320 meters looking forward 100.000000 meters along route # Maximum depth: 494.178685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.619320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801609; longitude = -122.022667; captureRadius = 10; duration = 78; initialDepth = 436.646172; finalDepth = 436.619320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.170551 # Actual altitude: 54.170551 # Commanded vehicle depth:436.61932 # Seafloor depth:-490.789871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 486.646172 meters looking forward 100.000000 meters along route # Maximum depth: 493.473137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.646172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801319; longitude = -122.023451; captureRadius = 10; duration = 78; initialDepth = 436.646172; finalDepth = 436.646172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.172427 # Actual altitude: 55.172427 # Commanded vehicle depth:436.646172 # Seafloor depth:-491.818599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 486.646172 meters looking forward 100.000000 meters along route # Maximum depth: 498.323851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.646172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801029; longitude = -122.024236; captureRadius = 10; duration = 78; initialDepth = 444.976115; finalDepth = 436.646172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.172427 # Actual altitude: 55.172427 # Commanded vehicle depth:436.646172 # Seafloor depth:-486.977874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 494.976115 meters looking forward 100.000000 meters along route # Maximum depth: 520.704610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.976115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800739; longitude = -122.025022; captureRadius = 10; duration = 78; initialDepth = 466.820670; finalDepth = 444.976115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.381086 # Actual altitude: 53.381086 # Commanded vehicle depth:444.976115 # Seafloor depth:-498.357201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 516.820670 meters looking forward 100.000000 meters along route # Maximum depth: 535.030486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.820670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800449; longitude = -122.025805; captureRadius = 10; duration = 78; initialDepth = 481.570577; finalDepth = 466.820670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.399844 # Actual altitude: 55.399844 # Commanded vehicle depth:466.82067 # Seafloor depth:-522.220514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 531.570577 meters looking forward 100.000000 meters along route # Maximum depth: 538.170041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.570577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800153; longitude = -122.026606; captureRadius = 10; duration = 78; initialDepth = 486.830920; finalDepth = 481.570577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.399844 # Actual altitude: 55.399844 # Commanded vehicle depth:481.570577 # Seafloor depth:-535.203458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 536.830920 meters looking forward 100.000000 meters along route # Maximum depth: 539.277758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.830920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799869; longitude = -122.027374; captureRadius = 10; duration = 78; initialDepth = 482.087859; finalDepth = 486.830920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.632881 # Actual altitude: 53.632881 # Commanded vehicle depth:486.83092 # Seafloor depth:-537.579995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 532.087859 meters looking forward 100.000000 meters along route # Maximum depth: 539.428444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.087859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799579; longitude = -122.028159; captureRadius = 10; duration = 78; initialDepth = 460.750235; finalDepth = 482.087859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3141900000001 # Actual altitude: 57.3141900000001 # Commanded vehicle depth:482.087859 # Seafloor depth:-539.402049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 510.750235 meters looking forward 100.000000 meters along route # Maximum depth: 534.376734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.750235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799288; longitude = -122.028944; captureRadius = 10; duration = 78; initialDepth = 448.148338; finalDepth = 460.750235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9686820000001 # Actual altitude: 70.9686820000001 # Commanded vehicle depth:460.750235 # Seafloor depth:-531.718917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 283.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 498.148338 meters looking forward 100.000000 meters along route # Maximum depth: 517.296995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.148338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798998; longitude = -122.029728; captureRadius = 10; duration = 78; initialDepth = 447.361647; finalDepth = 448.148338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9686820000001 # Actual altitude: 70.9686820000001 # Commanded vehicle depth:448.148338 # Seafloor depth:-508.607958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 283.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 497.361647 meters looking forward 100.000000 meters along route # Maximum depth: 499.861898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.361647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798708; longitude = -122.030513; captureRadius = 10; duration = 78; initialDepth = 447.811000; finalDepth = 447.361647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.45962 # Actual altitude: 60.45962 # Commanded vehicle depth:447.361647 # Seafloor depth:-498.113044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 497.811000 meters looking forward 100.000000 meters along route # Maximum depth: 512.893339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.811000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798418; longitude = -122.031298; captureRadius = 10; duration = 78; initialDepth = 459.521177; finalDepth = 447.811000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.026651 # Actual altitude: 53.026651 # Commanded vehicle depth:447.811 # Seafloor depth:-500.837651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 509.521177 meters looking forward 100.000000 meters along route # Maximum depth: 515.849957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.521177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798125; longitude = -122.032090; captureRadius = 10; duration = 78; initialDepth = 456.881581; finalDepth = 459.521177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.568609 # Actual altitude: 53.568609 # Commanded vehicle depth:459.521177 # Seafloor depth:-513.089786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 506.881581 meters looking forward 100.000000 meters along route # Maximum depth: 514.303666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.881581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797838; longitude = -122.032867; captureRadius = 10; duration = 78; initialDepth = 458.041429; finalDepth = 456.881581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.280415 # Actual altitude: 54.280415 # Commanded vehicle depth:456.881581 # Seafloor depth:-511.161996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 508.041429 meters looking forward 100.000000 meters along route # Maximum depth: 526.755018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.041429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797548; longitude = -122.033651; captureRadius = 10; duration = 78; initialDepth = 475.279751; finalDepth = 458.041429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.207666 # Actual altitude: 55.207666 # Commanded vehicle depth:458.041429 # Seafloor depth:-513.249095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.360397 meters # Minimum depth: 525.279751 meters looking forward 100.000000 meters along route # Maximum depth: 528.448943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.279751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797258; longitude = -122.034436; captureRadius = 10; duration = 78; initialDepth = 459.648329; finalDepth = 475.279751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.207666 # Actual altitude: 55.207666 # Commanded vehicle depth:475.279751 # Seafloor depth:-526.713398 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 78.360397 meters # Minimum depth: 509.648329 meters looking forward 100.000000 meters along route # Maximum depth: 527.600453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.648329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796955; longitude = -122.035255; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 442.758441; finalDepth = 459.648329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.8734910000001 # Actual altitude: 64.8734910000001 # Commanded vehicle depth:459.648329 # Seafloor depth:-524.521820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 259.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 78.360397 meters # Minimum depth: 492.758441 meters looking forward 100.000000 meters along route # Maximum depth: 512.939477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.758441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797539; longitude = -122.035581; captureRadius = 10; duration = 78; initialDepth = 442.154666; finalDepth = 442.758441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 65.846201 # Actual altitude: 65.846201 # Commanded vehicle depth:442.758441 # Seafloor depth:-508.604642 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 263.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 78.360397 meters # Minimum depth: 492.154666 meters looking forward 100.000000 meters along route # Maximum depth: 509.704824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.154666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798189; longitude = -122.035943; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 436.053984; finalDepth = 442.154666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.846201 # Actual altitude: 65.846201 # Commanded vehicle depth:442.154666 # Seafloor depth:-492.353233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 263.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 486.053984 meters looking forward 100.000000 meters along route # Maximum depth: 494.611363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.053984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798227; longitude = -122.035837; captureRadius = 10; duration = 78; initialDepth = 427.912669; finalDepth = 436.053984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.969798 # Actual altitude: 55.969798 # Commanded vehicle depth:436.053984 # Seafloor depth:-492.023782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 477.912669 meters looking forward 100.000000 meters along route # Maximum depth: 489.449134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.912669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798509; longitude = -122.035053; captureRadius = 10; duration = 78; initialDepth = 427.912669; finalDepth = 427.912669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.135653 # Actual altitude: 57.135653 # Commanded vehicle depth:427.912669 # Seafloor depth:-485.048322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 477.912669 meters looking forward 100.000000 meters along route # Maximum depth: 483.018782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.912669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798791; longitude = -122.034268; captureRadius = 10; duration = 78; initialDepth = 432.176652; finalDepth = 427.912669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.135653 # Actual altitude: 57.135653 # Commanded vehicle depth:427.912669 # Seafloor depth:-478.748189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 482.176652 meters looking forward 100.000000 meters along route # Maximum depth: 483.778075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.176652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799074; longitude = -122.033483; captureRadius = 10; duration = 78; initialDepth = 424.376843; finalDepth = 432.176652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.894357 # Actual altitude: 50.894357 # Commanded vehicle depth:432.176652 # Seafloor depth:-483.071009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 474.376843 meters looking forward 100.000000 meters along route # Maximum depth: 483.261188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.376843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799356; longitude = -122.032699; captureRadius = 10; duration = 78; initialDepth = 419.684340; finalDepth = 424.376843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.776249 # Actual altitude: 57.776249 # Commanded vehicle depth:424.376843 # Seafloor depth:-482.153092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 469.684340 meters looking forward 100.000000 meters along route # Maximum depth: 476.583830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.684340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799638; longitude = -122.031914; captureRadius = 10; duration = 78; initialDepth = 419.769920; finalDepth = 419.684340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.776249 # Actual altitude: 57.776249 # Commanded vehicle depth:419.68434 # Seafloor depth:-474.024664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 469.769920 meters looking forward 100.000000 meters along route # Maximum depth: 493.665611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.769920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799920; longitude = -122.031129; captureRadius = 10; duration = 78; initialDepth = 437.140597; finalDepth = 419.769920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.340324 # Actual altitude: 54.340324 # Commanded vehicle depth:419.76992 # Seafloor depth:-472.751435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 487.140597 meters looking forward 100.000000 meters along route # Maximum depth: 513.159244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.140597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800202; longitude = -122.030345; captureRadius = 10; duration = 78; initialDepth = 459.993278; finalDepth = 437.140597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.995675 # Actual altitude: 56.995675 # Commanded vehicle depth:437.140597 # Seafloor depth:-494.136272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 509.993278 meters looking forward 100.000000 meters along route # Maximum depth: 513.888063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.993278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800485; longitude = -122.029560; captureRadius = 10; duration = 78; initialDepth = 454.884072; finalDepth = 459.993278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.995675 # Actual altitude: 56.995675 # Commanded vehicle depth:459.993278 # Seafloor depth:-513.547837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 504.884072 meters looking forward 100.000000 meters along route # Maximum depth: 511.847697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.884072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800767; longitude = -122.028776; captureRadius = 10; duration = 78; initialDepth = 451.534404; finalDepth = 454.884072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.949513 # Actual altitude: 55.949513 # Commanded vehicle depth:454.884072 # Seafloor depth:-510.833585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 501.534404 meters looking forward 100.000000 meters along route # Maximum depth: 505.895145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.534404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801054; longitude = -122.027977; captureRadius = 10; duration = 78; initialDepth = 442.117607; finalDepth = 451.534404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.949513 # Actual altitude: 55.949513 # Commanded vehicle depth:451.534404 # Seafloor depth:-504.901070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 492.117607 meters looking forward 100.000000 meters along route # Maximum depth: 503.704541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.117607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801331; longitude = -122.027206; captureRadius = 10; duration = 78; initialDepth = 433.987409; finalDepth = 442.117607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.209269 # Actual altitude: 59.209269 # Commanded vehicle depth:442.117607 # Seafloor depth:-501.326876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 483.987409 meters looking forward 100.000000 meters along route # Maximum depth: 494.862100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.987409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801613; longitude = -122.026422; captureRadius = 10; duration = 78; initialDepth = 414.478148; finalDepth = 433.987409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.209269 # Actual altitude: 59.209269 # Commanded vehicle depth:433.987409 # Seafloor depth:-491.551271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 464.478148 meters looking forward 100.000000 meters along route # Maximum depth: 485.907865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.478148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801896; longitude = -122.025637; captureRadius = 10; duration = 78; initialDepth = 412.360388; finalDepth = 414.478148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.649553 # Actual altitude: 68.649553 # Commanded vehicle depth:414.478148 # Seafloor depth:-483.127701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 274.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 462.360388 meters looking forward 100.000000 meters along route # Maximum depth: 469.893586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.360388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802181; longitude = -122.024845; captureRadius = 10; duration = 78; initialDepth = 412.863362; finalDepth = 412.360388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.649553 # Actual altitude: 68.649553 # Commanded vehicle depth:412.360388 # Seafloor depth:-464.432736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 274.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 462.863362 meters looking forward 100.000000 meters along route # Maximum depth: 471.333758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.863362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802460; longitude = -122.024068; captureRadius = 10; duration = 78; initialDepth = 418.794037; finalDepth = 412.863362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.072348 # Actual altitude: 52.072348 # Commanded vehicle depth:412.863362 # Seafloor depth:-464.837718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 468.794037 meters looking forward 100.000000 meters along route # Maximum depth: 471.332526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.794037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802742; longitude = -122.023283; captureRadius = 10; duration = 78; initialDepth = 416.158866; finalDepth = 418.794037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.974356 # Actual altitude: 51.974356 # Commanded vehicle depth:418.794037 # Seafloor depth:-470.322589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 466.158866 meters looking forward 100.000000 meters along route # Maximum depth: 470.401855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.158866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803024; longitude = -122.022499; captureRadius = 10; duration = 78; initialDepth = 416.158866; finalDepth = 416.158866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.001722 # Actual altitude: 54.001722 # Commanded vehicle depth:416.158866 # Seafloor depth:-470.160588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 466.158866 meters looking forward 100.000000 meters along route # Maximum depth: 467.017991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.158866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803307; longitude = -122.021712; captureRadius = 10; duration = 78; initialDepth = 412.552185; finalDepth = 416.158866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.001722 # Actual altitude: 54.001722 # Commanded vehicle depth:416.158866 # Seafloor depth:-466.170084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 462.552185 meters looking forward 100.000000 meters along route # Maximum depth: 466.947365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.552185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803589; longitude = -122.020929; captureRadius = 10; duration = 78; initialDepth = 404.888921; finalDepth = 412.552185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.031998 # Actual altitude: 54.031998 # Commanded vehicle depth:412.552185 # Seafloor depth:-466.584183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 454.888921 meters looking forward 100.000000 meters along route # Maximum depth: 464.723143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.888921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803871; longitude = -122.020145; captureRadius = 10; duration = 78; initialDepth = 392.285152; finalDepth = 404.888921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.054049 # Actual altitude: 56.054049 # Commanded vehicle depth:404.888921 # Seafloor depth:-460.942970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 442.285152 meters looking forward 100.000000 meters along route # Maximum depth: 455.234191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.285152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804153; longitude = -122.019360; captureRadius = 10; duration = 78; initialDepth = 370.499160; finalDepth = 392.285152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.080198 # Actual altitude: 62.080198 # Commanded vehicle depth:392.285152 # Seafloor depth:-454.365350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 420.499160 meters looking forward 100.000000 meters along route # Maximum depth: 449.849043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.499160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804435; longitude = -122.018575; captureRadius = 10; duration = 78; initialDepth = 367.384406; finalDepth = 370.499160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.571136 # Actual altitude: 71.571136 # Commanded vehicle depth:370.49916 # Seafloor depth:-442.070296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 286.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 417.384406 meters looking forward 100.000000 meters along route # Maximum depth: 422.647055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.384406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804718; longitude = -122.017791; captureRadius = 10; duration = 78; initialDepth = 367.384406; finalDepth = 367.384406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.571136 # Actual altitude: 71.571136 # Commanded vehicle depth:367.384406 # Seafloor depth:-420.117151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 286.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 417.384406 meters looking forward 100.000000 meters along route # Maximum depth: 443.602411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.384406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805000; longitude = -122.017006; captureRadius = 10; duration = 78; initialDepth = 390.197601; finalDepth = 367.384406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.732745 # Actual altitude: 52.732745 # Commanded vehicle depth:367.384406 # Seafloor depth:-419.135924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 440.197601 meters looking forward 100.000000 meters along route # Maximum depth: 448.964195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.197601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805282; longitude = -122.016222; captureRadius = 10; duration = 78; initialDepth = 398.131513; finalDepth = 390.197601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.521998 # Actual altitude: 54.521998 # Commanded vehicle depth:390.197601 # Seafloor depth:-444.719599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 448.131513 meters looking forward 100.000000 meters along route # Maximum depth: 450.700933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.131513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805564; longitude = -122.015437; captureRadius = 10; duration = 78; initialDepth = 400.357171; finalDepth = 398.131513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.521998 # Actual altitude: 54.521998 # Commanded vehicle depth:398.131513 # Seafloor depth:-449.045967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 450.357171 meters looking forward 100.000000 meters along route # Maximum depth: 455.061795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.357171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805846; longitude = -122.014652; captureRadius = 10; duration = 78; initialDepth = 403.607486; finalDepth = 400.357171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.914454 # Actual altitude: 50.914454 # Commanded vehicle depth:400.357171 # Seafloor depth:-450.414769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 453.607486 meters looking forward 100.000000 meters along route # Maximum depth: 458.443868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.607486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806128; longitude = -122.013868; captureRadius = 10; duration = 78; initialDepth = 404.143620; finalDepth = 403.607486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.860153 # Actual altitude: 51.860153 # Commanded vehicle depth:403.607486 # Seafloor depth:-455.467639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 454.143620 meters looking forward 100.000000 meters along route # Maximum depth: 459.124090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.143620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806416; longitude = -122.013067; captureRadius = 10; duration = 78; initialDepth = 395.768513; finalDepth = 404.143620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.222977 # Actual altitude: 54.222977 # Commanded vehicle depth:404.14362 # Seafloor depth:-458.366597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 445.768513 meters looking forward 100.000000 meters along route # Maximum depth: 456.671470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.768513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806693; longitude = -122.012298; captureRadius = 10; duration = 78; initialDepth = 387.132166; finalDepth = 395.768513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.124188 # Actual altitude: 58.124188 # Commanded vehicle depth:395.768513 # Seafloor depth:-453.892701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 437.132166 meters looking forward 100.000000 meters along route # Maximum depth: 448.214913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.132166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806975; longitude = -122.011514; captureRadius = 10; duration = 78; initialDepth = 375.921420; finalDepth = 387.132166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.145544 # Actual altitude: 58.145544 # Commanded vehicle depth:387.132166 # Seafloor depth:-445.277710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 425.921420 meters looking forward 100.000000 meters along route # Maximum depth: 438.072950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.921420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807257; longitude = -122.010729; captureRadius = 10; duration = 78; initialDepth = 361.110821; finalDepth = 375.921420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.963195 # Actual altitude: 60.963195 # Commanded vehicle depth:375.92142 # Seafloor depth:-436.884615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 243.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 411.110821 meters looking forward 100.000000 meters along route # Maximum depth: 430.752075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.110821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807543; longitude = -122.009935; captureRadius = 10; duration = 78; initialDepth = 361.110821; finalDepth = 361.110821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.615281 # Actual altitude: 64.615281 # Commanded vehicle depth:361.110821 # Seafloor depth:-425.726102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 411.110821 meters looking forward 100.000000 meters along route # Maximum depth: 424.936113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.110821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807822; longitude = -122.009160; captureRadius = 10; duration = 78; initialDepth = 370.912741; finalDepth = 361.110821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.615281 # Actual altitude: 64.615281 # Commanded vehicle depth:361.110821 # Seafloor depth:-412.018687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 420.912741 meters looking forward 100.000000 meters along route # Maximum depth: 438.138423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.912741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808104; longitude = -122.008375; captureRadius = 10; duration = 78; initialDepth = 384.242781; finalDepth = 370.912741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.469944 # Actual altitude: 55.469944 # Commanded vehicle depth:370.912741 # Seafloor depth:-426.382685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 434.242781 meters looking forward 100.000000 meters along route # Maximum depth: 438.326766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.242781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808386; longitude = -122.007591; captureRadius = 10; duration = 78; initialDepth = 369.372627; finalDepth = 384.242781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.469944 # Actual altitude: 55.469944 # Commanded vehicle depth:384.242781 # Seafloor depth:-438.288850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 419.372627 meters looking forward 100.000000 meters along route # Maximum depth: 436.840179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.372627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808669; longitude = -122.006802; captureRadius = 10; duration = 78; initialDepth = 349.928915; finalDepth = 369.372627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.866618 # Actual altitude: 64.866618 # Commanded vehicle depth:369.372627 # Seafloor depth:-434.239245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 259.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 399.928915 meters looking forward 100.000000 meters along route # Maximum depth: 425.516590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.928915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808950; longitude = -122.006021; captureRadius = 10; duration = 78; initialDepth = 329.752880; finalDepth = 349.928915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.876565 # Actual altitude: 68.876565 # Commanded vehicle depth:349.928915 # Seafloor depth:-418.805480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 275.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 379.752880 meters looking forward 100.000000 meters along route # Maximum depth: 405.075286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.752880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809233; longitude = -122.005237; captureRadius = 10; duration = 78; initialDepth = 292.509498; finalDepth = 329.752880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.876565 # Actual altitude: 68.876565 # Commanded vehicle depth:329.75288 # Seafloor depth:-398.289077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 275.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 342.509498 meters looking forward 100.000000 meters along route # Maximum depth: 384.673493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.509498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809515; longitude = -122.004452; captureRadius = 10; duration = 78; initialDepth = 257.793730; finalDepth = 292.509498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.67197 # Actual altitude: 85.67197 # Commanded vehicle depth:292.509498 # Seafloor depth:-378.181468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 342.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 307.793730 meters looking forward 100.000000 meters along route # Maximum depth: 354.855768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.793730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809797; longitude = -122.003668; captureRadius = 10; duration = 78; initialDepth = 254.682654; finalDepth = 257.793730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.67197 # Actual altitude: 85.67197 # Commanded vehicle depth:257.79373 # Seafloor depth:-342.428699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 342.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 304.682654 meters looking forward 100.000000 meters along route # Maximum depth: 315.691783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.682654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810079; longitude = -122.002883; captureRadius = 10; duration = 78; initialDepth = 257.487535; finalDepth = 254.682654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.634969 # Actual altitude: 84.634969 # Commanded vehicle depth:254.682654 # Seafloor depth:-307.490624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.54; 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 = 338.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 307.487535 meters looking forward 100.000000 meters along route # Maximum depth: 352.352752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.487535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810361; longitude = -122.002098; captureRadius = 10; duration = 78; initialDepth = 280.490024; finalDepth = 257.487535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.782026 # Actual altitude: 61.782026 # Commanded vehicle depth:257.487535 # Seafloor depth:-319.269561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 247.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 345.484935 meters looking forward 100.000000 meters along route # Maximum depth: 389.212660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.490024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810644; longitude = -122.001314; captureRadius = 10; duration = 78; initialDepth = 303.492446; finalDepth = 280.490024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.7487011000002 # Actual altitude: 74.7487011000002 # Commanded vehicle depth:280.4900239 # Seafloor depth:-355.238725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.90; MB_Bottom_Detect_Filter_Max_Range = 298.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 380.748005 meters looking forward 100.000000 meters along route # Maximum depth: 416.533398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.492446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810926; longitude = -122.000529; captureRadius = 10; duration = 78; initialDepth = 326.494802; finalDepth = 303.492446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0130161000001 # Actual altitude: 86.0130161000001 # Commanded vehicle depth:303.4924459 # Seafloor depth:-389.505462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.05; 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 = 344.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 78.360397 meters # Minimum depth: 411.200545 meters looking forward 100.000000 meters along route # Maximum depth: 449.677365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.494802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811208; longitude = -121.999744; captureRadius = 10; duration = 78; initialDepth = 349.497090; finalDepth = 326.494802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3991984 # Actual altitude: 91.3991984 # Commanded vehicle depth:326.4948016 # Seafloor depth:-417.894000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 36.56; 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 14 # Segment length 78.360397 meters # Minimum depth: 440.234925 meters looking forward 100.000000 meters along route # Maximum depth: 480.209179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.497090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811490; longitude = -121.998960; captureRadius = 10; duration = 78; initialDepth = 372.499313; finalDepth = 349.497090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.5801996 # Actual altitude: 100 # Commanded vehicle depth:349.4970904 # Seafloor depth:-452.077290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 14 # Segment length 78.360397 meters # Minimum depth: 473.677088 meters looking forward 100.000000 meters along route # Maximum depth: 504.629208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.499313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811772; longitude = -121.998175; captureRadius = 10; duration = 78; initialDepth = 395.501468; finalDepth = 372.499313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.6925894 # Actual altitude: 100 # Commanded vehicle depth:372.4993126 # Seafloor depth:-482.191902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 14 # Segment length 78.360397 meters # Minimum depth: 499.200052 meters looking forward 100.000000 meters along route # Maximum depth: 525.745921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.501468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812055; longitude = -121.997391; captureRadius = 10; duration = 78; initialDepth = 419.586830; finalDepth = 395.501468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.6925894 # Actual altitude: 100 # Commanded vehicle depth:395.5014682 # Seafloor depth:-505.004612 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 78.360397 meters # Minimum depth: 513.550411 meters looking forward 100.000000 meters along route # Maximum depth: 526.395172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.586830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812350; longitude = -121.996569; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 432.465484; finalDepth = 419.586830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.5031438 # Actual altitude: 100 # Commanded vehicle depth:419.5868296 # Seafloor depth:-526.395172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 78.360397 meters # Minimum depth: 493.760615 meters looking forward 100.000000 meters along route # Maximum depth: 517.061756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.465484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812525; longitude = -121.996998; captureRadius = 10; duration = 78; initialDepth = 425.306670; finalDepth = 432.465484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.8083424 # Actual altitude: 100 # Commanded vehicle depth:432.4654843 # Seafloor depth:-511.555877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 78.360397 meters # Minimum depth: 475.306670 meters looking forward 100.000000 meters along route # Maximum depth: 497.804811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.306670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812845; longitude = -121.997783; captureRadius = 10; duration = 78; initialDepth = 411.552744; finalDepth = 425.306670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 79.0903927000002 # Actual altitude: 79.0903927000002 # Commanded vehicle depth:425.30667 # Seafloor depth:-491.844549 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.36; 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 = 316.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 78.360397 meters # Minimum depth: 461.552744 meters looking forward 100.000000 meters along route # Maximum depth: 486.583095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.552744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813152; longitude = -121.998537; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 387.405374; finalDepth = 411.552744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.537879 # Actual altitude: 66.537879 # Commanded vehicle depth:411.552744 # Seafloor depth:-474.312065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 437.405374 meters looking forward 100.000000 meters along route # Maximum depth: 467.104931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.405374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812995; longitude = -121.998971; captureRadius = 10; duration = 78; initialDepth = 363.960873; finalDepth = 387.405374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.924756 # Actual altitude: 73.924756 # Commanded vehicle depth:387.405374 # Seafloor depth:-461.330130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.57; MB_Bottom_Detect_Filter_Max_Range = 295.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 413.960873 meters looking forward 100.000000 meters along route # Maximum depth: 444.035222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.960873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812717; longitude = -121.999744; captureRadius = 10; duration = 78; initialDepth = 336.919391; finalDepth = 363.960873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.924756 # Actual altitude: 73.924756 # Commanded vehicle depth:363.960873 # Seafloor depth:-436.517507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.57; MB_Bottom_Detect_Filter_Max_Range = 295.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 386.919391 meters looking forward 100.000000 meters along route # Maximum depth: 418.278847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.919391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812434; longitude = -122.000529; captureRadius = 10; duration = 78; initialDepth = 299.554859; finalDepth = 336.919391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.235531 # Actual altitude: 75.235531 # Commanded vehicle depth:336.919391 # Seafloor depth:-412.154922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.94; 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 = 300.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 349.554859 meters looking forward 100.000000 meters along route # Maximum depth: 391.061341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.554859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812151; longitude = -122.001314; captureRadius = 10; duration = 78; initialDepth = 277.517134; finalDepth = 299.554859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.122839 # Actual altitude: 85.122839 # Commanded vehicle depth:299.554859 # Seafloor depth:-384.677698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.49; 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 = 340.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 327.517134 meters looking forward 100.000000 meters along route # Maximum depth: 363.362556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.517134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811869; longitude = -122.002098; captureRadius = 10; duration = 78; initialDepth = 254.772400; finalDepth = 277.517134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.122839 # Actual altitude: 85.122839 # Commanded vehicle depth:277.517134 # Seafloor depth:-349.501711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.49; 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 = 340.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 304.772400 meters looking forward 100.000000 meters along route # Maximum depth: 331.825677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.772400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811586; longitude = -122.002883; captureRadius = 10; duration = 78; initialDepth = 244.223260; finalDepth = 254.772400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.984577 # Actual altitude: 71.984577 # Commanded vehicle depth:254.7724 # Seafloor depth:-326.411010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.79; MB_Bottom_Detect_Filter_Max_Range = 287.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 294.223260 meters looking forward 100.000000 meters along route # Maximum depth: 310.897528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.223260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811303; longitude = -122.003668; captureRadius = 10; duration = 78; initialDepth = 246.627058; finalDepth = 244.223260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.63861 # Actual altitude: 71.63861 # Commanded vehicle depth:244.22326 # Seafloor depth:-303.050655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.66; MB_Bottom_Detect_Filter_Max_Range = 286.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 296.627058 meters looking forward 100.000000 meters along route # Maximum depth: 351.652802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.627058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811020; longitude = -122.004452; captureRadius = 10; duration = 78; initialDepth = 269.637383; finalDepth = 246.627058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.827395 # Actual altitude: 58.827395 # Commanded vehicle depth:246.627058 # Seafloor depth:-304.356018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 340.627044 meters looking forward 100.000000 meters along route # Maximum depth: 370.427565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.637383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810737; longitude = -122.005237; captureRadius = 10; duration = 78; initialDepth = 292.647775; finalDepth = 269.637383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1765580999995 # Actual altitude: 82.1765580999995 # Commanded vehicle depth:269.6373829 # Seafloor depth:-351.813941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 328.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 368.015116 meters looking forward 100.000000 meters along route # Maximum depth: 386.098733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.647775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810455; longitude = -122.006021; captureRadius = 10; duration = 78; initialDepth = 315.658233; finalDepth = 292.647775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1765580999995 # Actual altitude: 82.1765580999995 # Commanded vehicle depth:292.6477747 # Seafloor depth:-371.719678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 328.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 381.234719 meters looking forward 100.000000 meters along route # Maximum depth: 399.563991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.658233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810172; longitude = -122.006806; captureRadius = 10; duration = 78; initialDepth = 338.906088; finalDepth = 315.658233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0719032999998 # Actual altitude: 79.0719032999998 # Commanded vehicle depth:315.6582331 # Seafloor depth:-387.038734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 316.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 396.995533 meters looking forward 100.000000 meters along route # Maximum depth: 399.563991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.906088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809886; longitude = -122.007599; captureRadius = 10; duration = 78; initialDepth = 337.413127; finalDepth = 338.906088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3805008999999 # Actual altitude: 71.3805008999999 # Commanded vehicle depth:338.9060878 # Seafloor depth:-399.527397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 285.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 387.413127 meters looking forward 100.000000 meters along route # Maximum depth: 398.851365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.413127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809606; longitude = -122.008375; captureRadius = 10; duration = 78; initialDepth = 330.081333; finalDepth = 337.413127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.084662 # Actual altitude: 61.084662 # Commanded vehicle depth:337.413127 # Seafloor depth:-398.497789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 380.081333 meters looking forward 100.000000 meters along route # Maximum depth: 390.420551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.081333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809324; longitude = -122.009160; captureRadius = 10; duration = 78; initialDepth = 330.081333; finalDepth = 330.081333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.084662 # Actual altitude: 61.084662 # Commanded vehicle depth:330.081333 # Seafloor depth:-386.750863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 380.081333 meters looking forward 100.000000 meters along route # Maximum depth: 402.373691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.081333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809041; longitude = -122.009945; captureRadius = 10; duration = 78; initialDepth = 345.701446; finalDepth = 330.081333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.66953 # Actual altitude: 56.66953 # Commanded vehicle depth:330.081333 # Seafloor depth:-381.600219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 395.701446 meters looking forward 100.000000 meters along route # Maximum depth: 417.405786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.701446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808758; longitude = -122.010729; captureRadius = 10; duration = 78; initialDepth = 364.884447; finalDepth = 345.701446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.848452 # Actual altitude: 56.848452 # Commanded vehicle depth:345.701446 # Seafloor depth:-402.549898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 414.884447 meters looking forward 100.000000 meters along route # Maximum depth: 423.627793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.884447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808475; longitude = -122.011514; captureRadius = 10; duration = 78; initialDepth = 372.823085; finalDepth = 364.884447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.848452 # Actual altitude: 56.848452 # Commanded vehicle depth:364.884447 # Seafloor depth:-417.702380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 422.823085 meters looking forward 100.000000 meters along route # Maximum depth: 428.518280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.823085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808192; longitude = -122.012298; captureRadius = 10; duration = 78; initialDepth = 376.667626; finalDepth = 372.823085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.817933 # Actual altitude: 52.817933 # Commanded vehicle depth:372.823085 # Seafloor depth:-423.879378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 426.667626 meters looking forward 100.000000 meters along route # Maximum depth: 432.504218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.667626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807903; longitude = -122.013100; captureRadius = 10; duration = 78; initialDepth = 378.080501; finalDepth = 376.667626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.070702 # Actual altitude: 52.070702 # Commanded vehicle depth:376.667626 # Seafloor depth:-428.738328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 428.080501 meters looking forward 100.000000 meters along route # Maximum depth: 432.467309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.080501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807627; longitude = -122.013868; captureRadius = 10; duration = 78; initialDepth = 374.659721; finalDepth = 378.080501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813868 # Actual altitude: 52.813868 # Commanded vehicle depth:378.080501 # Seafloor depth:-430.894369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 424.659721 meters looking forward 100.000000 meters along route # Maximum depth: 429.552183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.659721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807344; longitude = -122.014652; captureRadius = 10; duration = 78; initialDepth = 349.844523; finalDepth = 374.659721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.137927 # Actual altitude: 54.137927 # Commanded vehicle depth:374.659721 # Seafloor depth:-428.797648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 399.844523 meters looking forward 100.000000 meters along route # Maximum depth: 427.487893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.844523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807061; longitude = -122.015437; captureRadius = 10; duration = 78; initialDepth = 332.459101; finalDepth = 349.844523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.067518 # Actual altitude: 74.067518 # Commanded vehicle depth:349.844523 # Seafloor depth:-423.912041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.63; MB_Bottom_Detect_Filter_Max_Range = 296.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 382.459101 meters looking forward 100.000000 meters along route # Maximum depth: 406.316749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.459101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806777; longitude = -122.016226; captureRadius = 10; duration = 78; initialDepth = 328.810449; finalDepth = 332.459101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.067518 # Actual altitude: 74.067518 # Commanded vehicle depth:332.459101 # Seafloor depth:-399.699799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.63; MB_Bottom_Detect_Filter_Max_Range = 296.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 378.810449 meters looking forward 100.000000 meters along route # Maximum depth: 385.758411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.810449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806496; longitude = -122.017006; captureRadius = 10; duration = 78; initialDepth = 330.027584; finalDepth = 328.810449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.240698 # Actual altitude: 67.240698 # Commanded vehicle depth:328.810449 # Seafloor depth:-381.942353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 268.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 380.027584 meters looking forward 100.000000 meters along route # Maximum depth: 397.660996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.027584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806213; longitude = -122.017791; captureRadius = 10; duration = 78; initialDepth = 344.424198; finalDepth = 330.027584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.131904 # Actual altitude: 53.131904 # Commanded vehicle depth:330.027584 # Seafloor depth:-382.953047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 394.424198 meters looking forward 100.000000 meters along route # Maximum depth: 432.933269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.424198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805930; longitude = -122.018575; captureRadius = 10; duration = 78; initialDepth = 367.435725; finalDepth = 344.424198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.635857 # Actual altitude: 54.635857 # Commanded vehicle depth:344.424198 # Seafloor depth:-399.060055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 424.970819 meters looking forward 100.000000 meters along route # Maximum depth: 436.172291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.435725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805647; longitude = -122.019360; captureRadius = 10; duration = 78; initialDepth = 383.233422; finalDepth = 367.435725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8280167 # Actual altitude: 65.8280167 # Commanded vehicle depth:367.4357253 # Seafloor depth:-433.263742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 263.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 433.233422 meters looking forward 100.000000 meters along route # Maximum depth: 435.952849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.233422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805365; longitude = -122.020145; captureRadius = 10; duration = 78; initialDepth = 383.997943; finalDepth = 383.233422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8280167 # Actual altitude: 65.8280167 # Commanded vehicle depth:383.233422 # Seafloor depth:-434.393252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 263.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 433.997943 meters looking forward 100.000000 meters along route # Maximum depth: 436.265542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.997943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805082; longitude = -122.020929; captureRadius = 10; duration = 78; initialDepth = 381.454532; finalDepth = 383.997943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.15983 # Actual altitude: 51.15983 # Commanded vehicle depth:383.997943 # Seafloor depth:-434.529029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 431.454532 meters looking forward 100.000000 meters along route # Maximum depth: 435.696996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.454532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804794; longitude = -122.021728; captureRadius = 10; duration = 78; initialDepth = 379.314826; finalDepth = 381.454532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.390677 # Actual altitude: 53.390677 # Commanded vehicle depth:381.454532 # Seafloor depth:-434.845209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 429.314826 meters looking forward 100.000000 meters along route # Maximum depth: 432.608970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.314826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804516; longitude = -122.022499; captureRadius = 10; duration = 78; initialDepth = 379.578290; finalDepth = 379.314826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.390677 # Actual altitude: 53.390677 # Commanded vehicle depth:379.314826 # Seafloor depth:-431.317116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 429.578290 meters looking forward 100.000000 meters along route # Maximum depth: 435.883399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.578290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804234; longitude = -122.023283; captureRadius = 10; duration = 78; initialDepth = 380.495306; finalDepth = 379.578290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.00229 # Actual altitude: 52.00229 # Commanded vehicle depth:379.57829 # Seafloor depth:-430.133552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 430.495306 meters looking forward 100.000000 meters along route # Maximum depth: 437.431904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.495306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803951; longitude = -122.024068; captureRadius = 10; duration = 78; initialDepth = 372.122730; finalDepth = 380.495306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.838852 # Actual altitude: 54.838852 # Commanded vehicle depth:380.495306 # Seafloor depth:-435.334158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 422.122730 meters looking forward 100.000000 meters along route # Maximum depth: 435.040558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.122730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803668; longitude = -122.024853; captureRadius = 10; duration = 78; initialDepth = 372.122730; finalDepth = 372.122730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.358458 # Actual altitude: 58.358458 # Commanded vehicle depth:372.12273 # Seafloor depth:-430.481188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 422.122730 meters looking forward 100.000000 meters along route # Maximum depth: 441.409499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.122730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803385; longitude = -122.025637; captureRadius = 10; duration = 78; initialDepth = 388.297960; finalDepth = 372.122730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.358458 # Actual altitude: 58.358458 # Commanded vehicle depth:372.12273 # Seafloor depth:-422.589987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 438.297960 meters looking forward 100.000000 meters along route # Maximum depth: 450.750233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.297960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803102; longitude = -122.026422; captureRadius = 10; duration = 78; initialDepth = 399.919291; finalDepth = 388.297960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.178425 # Actual altitude: 54.178425 # Commanded vehicle depth:388.29796 # Seafloor depth:-442.476385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 449.919291 meters looking forward 100.000000 meters along route # Maximum depth: 458.523803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.919291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802820; longitude = -122.027206; captureRadius = 10; duration = 78; initialDepth = 406.963042; finalDepth = 399.919291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.178425 # Actual altitude: 54.178425 # Commanded vehicle depth:399.919291 # Seafloor depth:-451.412043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 456.963042 meters looking forward 100.000000 meters along route # Maximum depth: 472.069071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.963042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802537; longitude = -122.027991; captureRadius = 10; duration = 78; initialDepth = 416.976561; finalDepth = 406.963042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.719708 # Actual altitude: 51.719708 # Commanded vehicle depth:406.963042 # Seafloor depth:-458.682750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 466.976561 meters looking forward 100.000000 meters along route # Maximum depth: 480.246583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.976561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802254; longitude = -122.028776; captureRadius = 10; duration = 78; initialDepth = 429.354505; finalDepth = 416.976561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.990211 # Actual altitude: 55.990211 # Commanded vehicle depth:416.976561 # Seafloor depth:-472.966772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 479.354505 meters looking forward 100.000000 meters along route # Maximum depth: 487.877236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.354505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801971; longitude = -122.029560; captureRadius = 10; duration = 78; initialDepth = 429.618913; finalDepth = 429.354505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.990211 # Actual altitude: 55.990211 # Commanded vehicle depth:429.354505 # Seafloor depth:-480.577237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 479.618913 meters looking forward 100.000000 meters along route # Maximum depth: 487.877236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.618913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801685; longitude = -122.030355; captureRadius = 10; duration = 78; initialDepth = 406.620886; finalDepth = 429.618913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.86661 # Actual altitude: 57.86661 # Commanded vehicle depth:429.618913 # Seafloor depth:-487.485523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 231.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 456.620886 meters looking forward 100.000000 meters along route # Maximum depth: 482.459631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.620886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801406; longitude = -122.031129; captureRadius = 10; duration = 78; initialDepth = 397.511244; finalDepth = 406.620886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.388611 # Actual altitude: 72.388611 # Commanded vehicle depth:406.620886 # Seafloor depth:-479.009497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 447.511244 meters looking forward 100.000000 meters along route # Maximum depth: 461.076100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.511244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801123; longitude = -122.031914; captureRadius = 10; duration = 78; initialDepth = 398.772442; finalDepth = 397.511244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.388611 # Actual altitude: 72.388611 # Commanded vehicle depth:397.511244 # Seafloor depth:-455.346434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 448.772442 meters looking forward 100.000000 meters along route # Maximum depth: 452.834573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.772442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800840; longitude = -122.032699; captureRadius = 10; duration = 78; initialDepth = 398.387224; finalDepth = 398.772442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.83519 # Actual altitude: 57.83519 # Commanded vehicle depth:398.772442 # Seafloor depth:-449.942260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 448.387224 meters looking forward 100.000000 meters along route # Maximum depth: 452.834573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.387224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800557; longitude = -122.033483; captureRadius = 10; duration = 78; initialDepth = 397.246468; finalDepth = 398.387224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.337552 # Actual altitude: 54.337552 # Commanded vehicle depth:398.387224 # Seafloor depth:-452.724776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 447.246468 meters looking forward 100.000000 meters along route # Maximum depth: 448.870095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.246468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800275; longitude = -122.034268; captureRadius = 10; duration = 78; initialDepth = 397.404000; finalDepth = 397.246468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.337552 # Actual altitude: 54.337552 # Commanded vehicle depth:397.246468 # Seafloor depth:-448.257671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 447.404000 meters looking forward 100.000000 meters along route # Maximum depth: 449.739558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.404000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799992; longitude = -122.035053; captureRadius = 10; duration = 78; initialDepth = 399.265944; finalDepth = 397.404000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.011203 # Actual altitude: 51.011203 # Commanded vehicle depth:397.404 # Seafloor depth:-448.159888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 78.360397 meters # Minimum depth: 449.265944 meters looking forward 100.000000 meters along route # Maximum depth: 452.933314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.265944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799702; longitude = -122.035856; captureRadius = 10; duration = 78; initialDepth = 381.820809; finalDepth = 399.265944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.755888 # Actual altitude: 50.755888 # Commanded vehicle depth:399.265944 # Seafloor depth:-449.455964 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.02; 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 11 # Segment length 78.360397 meters # Minimum depth: 431.820809 meters looking forward 100.000000 meters along route # Maximum depth: 452.935127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.820809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799423; longitude = -122.036631; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 354.121467; finalDepth = 381.820809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.114318 # Actual altitude: 71.114318 # Commanded vehicle depth:381.820809 # Seafloor depth:-452.935127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.45; MB_Bottom_Detect_Filter_Max_Range = 284.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 78.360397 meters # Minimum depth: 404.121467 meters looking forward 100.000000 meters along route # Maximum depth: 437.556390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.121467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800018; longitude = -122.036963; captureRadius = 10; duration = 78; initialDepth = 353.155548; finalDepth = 354.121467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 77.418299 # Actual altitude: 77.418299 # Commanded vehicle depth:354.121467 # Seafloor depth:-431.539766 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.67; 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 = 309.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 78.360397 meters # Minimum depth: 403.155548 meters looking forward 100.000000 meters along route # Maximum depth: 429.753933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.155548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800657; longitude = -122.037319; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 353.527627; finalDepth = 353.155548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.418299 # Actual altitude: 77.418299 # Commanded vehicle depth:353.155548 # Seafloor depth:-403.155548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.67; 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 = 309.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 403.527627 meters looking forward 100.000000 meters along route # Maximum depth: 412.125457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.527627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800747; longitude = -122.037070; captureRadius = 10; duration = 78; initialDepth = 358.072942; finalDepth = 353.527627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.207692 # Actual altitude: 50.207692 # Commanded vehicle depth:353.527627 # Seafloor depth:-403.735319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 408.072942 meters looking forward 100.000000 meters along route # Maximum depth: 413.223078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.072942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801031; longitude = -122.036286; captureRadius = 10; duration = 78; initialDepth = 357.597202; finalDepth = 358.072942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.797 # Actual altitude: 54.797 # Commanded vehicle depth:358.072942 # Seafloor depth:-412.869942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 407.597202 meters looking forward 100.000000 meters along route # Maximum depth: 416.196576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.597202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801315; longitude = -122.035501; captureRadius = 10; duration = 78; initialDepth = 363.302354; finalDepth = 357.597202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.797 # Actual altitude: 54.797 # Commanded vehicle depth:357.597202 # Seafloor depth:-408.212148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 413.302354 meters looking forward 100.000000 meters along route # Maximum depth: 417.243090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.302354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801598; longitude = -122.034716; captureRadius = 10; duration = 78; initialDepth = 365.621637; finalDepth = 363.302354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.981041 # Actual altitude: 52.981041 # Commanded vehicle depth:363.302354 # Seafloor depth:-416.283395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 415.621637 meters looking forward 100.000000 meters along route # Maximum depth: 419.075111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.621637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801882; longitude = -122.033932; captureRadius = 10; duration = 78; initialDepth = 366.989919; finalDepth = 365.621637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.981041 # Actual altitude: 52.981041 # Commanded vehicle depth:365.621637 # Seafloor depth:-415.770461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 416.989919 meters looking forward 100.000000 meters along route # Maximum depth: 440.135085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.989919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802166; longitude = -122.033147; captureRadius = 10; duration = 78; initialDepth = 386.855310; finalDepth = 366.989919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.496362 # Actual altitude: 53.496362 # Commanded vehicle depth:366.989919 # Seafloor depth:-420.486281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 436.855310 meters looking forward 100.000000 meters along route # Maximum depth: 444.376507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.855310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802451; longitude = -122.032359; captureRadius = 10; duration = 78; initialDepth = 392.598963; finalDepth = 386.855310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.496362 # Actual altitude: 53.496362 # Commanded vehicle depth:386.85531 # Seafloor depth:-440.139335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 442.598963 meters looking forward 100.000000 meters along route # Maximum depth: 446.729583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.598963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802734; longitude = -122.031578; captureRadius = 10; duration = 78; initialDepth = 387.119163; finalDepth = 392.598963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.284025 # Actual altitude: 53.284025 # Commanded vehicle depth:392.598963 # Seafloor depth:-444.403626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 437.119163 meters looking forward 100.000000 meters along route # Maximum depth: 446.172254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.119163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803017; longitude = -122.030793; captureRadius = 10; duration = 78; initialDepth = 381.343614; finalDepth = 387.119163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.629942 # Actual altitude: 56.629942 # Commanded vehicle depth:387.119163 # Seafloor depth:-443.749105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 431.343614 meters looking forward 100.000000 meters along route # Maximum depth: 439.448958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.343614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803307; longitude = -122.029992; captureRadius = 10; duration = 78; initialDepth = 362.633892; finalDepth = 381.343614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.725915 # Actual altitude: 57.725915 # Commanded vehicle depth:381.343614 # Seafloor depth:-439.069529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 230.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 412.633892 meters looking forward 100.000000 meters along route # Maximum depth: 435.531795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.633892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803585; longitude = -122.029224; captureRadius = 10; duration = 78; initialDepth = 337.006203; finalDepth = 362.633892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.204226 # Actual altitude: 68.204226 # Commanded vehicle depth:362.633892 # Seafloor depth:-430.838118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 272.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 387.006203 meters looking forward 100.000000 meters along route # Maximum depth: 416.182168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.006203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803869; longitude = -122.028439; captureRadius = 10; duration = 78; initialDepth = 309.203942; finalDepth = 337.006203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.386388 # Actual altitude: 74.386388 # Commanded vehicle depth:337.006203 # Seafloor depth:-411.392591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.75; MB_Bottom_Detect_Filter_Max_Range = 297.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 359.203942 meters looking forward 100.000000 meters along route # Maximum depth: 393.245835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.203942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804153; longitude = -122.027655; captureRadius = 10; duration = 78; initialDepth = 302.530811; finalDepth = 309.203942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.403358 # Actual altitude: 74.403358 # Commanded vehicle depth:309.203942 # Seafloor depth:-383.607300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.76; MB_Bottom_Detect_Filter_Max_Range = 297.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 352.530811 meters looking forward 100.000000 meters along route # Maximum depth: 383.963872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.530811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804436; longitude = -122.026870; captureRadius = 10; duration = 78; initialDepth = 323.755614; finalDepth = 302.530811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.403358 # Actual altitude: 74.403358 # Commanded vehicle depth:302.530811 # Seafloor depth:-358.754924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.76; MB_Bottom_Detect_Filter_Max_Range = 297.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 373.755614 meters looking forward 100.000000 meters along route # Maximum depth: 402.581452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.755614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804720; longitude = -122.026085; captureRadius = 10; duration = 78; initialDepth = 334.063379; finalDepth = 323.755614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.063567 # Actual altitude: 62.063567 # Commanded vehicle depth:323.755614 # Seafloor depth:-385.819181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 384.063379 meters looking forward 100.000000 meters along route # Maximum depth: 402.581452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.063379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805004; longitude = -122.025301; captureRadius = 10; duration = 78; initialDepth = 332.461744; finalDepth = 334.063379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.697618 # Actual altitude: 66.697618 # Commanded vehicle depth:334.063379 # Seafloor depth:-400.760997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 266.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 382.461744 meters looking forward 100.000000 meters along route # Maximum depth: 384.859642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.461744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805290; longitude = -122.024510; captureRadius = 10; duration = 78; initialDepth = 326.361122; finalDepth = 332.461744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.697618 # Actual altitude: 66.697618 # Commanded vehicle depth:332.461744 # Seafloor depth:-384.406046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 266.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 376.361122 meters looking forward 100.000000 meters along route # Maximum depth: 384.209860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.361122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805571; longitude = -122.023732; captureRadius = 10; duration = 78; initialDepth = 326.698883; finalDepth = 326.361122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.796586 # Actual altitude: 55.796586 # Commanded vehicle depth:326.361122 # Seafloor depth:-382.157708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 376.698883 meters looking forward 100.000000 meters along route # Maximum depth: 380.218046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.698883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805855; longitude = -122.022947; captureRadius = 10; duration = 78; initialDepth = 329.606151; finalDepth = 326.698883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.796586 # Actual altitude: 55.796586 # Commanded vehicle depth:326.698883 # Seafloor depth:-378.424113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 379.606151 meters looking forward 100.000000 meters along route # Maximum depth: 382.484534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.606151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806139; longitude = -122.022162; captureRadius = 10; duration = 78; initialDepth = 331.401870; finalDepth = 329.606151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.72523 # Actual altitude: 51.72523 # Commanded vehicle depth:329.606151 # Seafloor depth:-380.044952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 381.401870 meters looking forward 100.000000 meters along route # Maximum depth: 398.628218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.401870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806423; longitude = -122.021378; captureRadius = 10; duration = 78; initialDepth = 345.120456; finalDepth = 331.401870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.29144 # Actual altitude: 51.29144 # Commanded vehicle depth:331.40187 # Seafloor depth:-382.693310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 395.120456 meters looking forward 100.000000 meters along route # Maximum depth: 402.241945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.120456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806707; longitude = -122.020593; captureRadius = 10; duration = 78; initialDepth = 325.566226; finalDepth = 345.120456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.370567 # Actual altitude: 53.370567 # Commanded vehicle depth:345.120456 # Seafloor depth:-398.491023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 375.566226 meters looking forward 100.000000 meters along route # Maximum depth: 399.629038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.566226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806990; longitude = -122.019808; captureRadius = 10; duration = 78; initialDepth = 306.276975; finalDepth = 325.566226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.511881 # Actual altitude: 69.511881 # Commanded vehicle depth:325.566226 # Seafloor depth:-395.078107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 278.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 356.276975 meters looking forward 100.000000 meters along route # Maximum depth: 382.272423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.276975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807274; longitude = -122.019024; captureRadius = 10; duration = 78; initialDepth = 306.276975; finalDepth = 306.276975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.511881 # Actual altitude: 69.511881 # Commanded vehicle depth:306.276975 # Seafloor depth:-375.363362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 278.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 356.276975 meters looking forward 100.000000 meters along route # Maximum depth: 369.691039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.276975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807558; longitude = -122.018239; captureRadius = 10; duration = 78; initialDepth = 316.593041; finalDepth = 306.276975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.086387 # Actual altitude: 69.086387 # Commanded vehicle depth:306.276975 # Seafloor depth:-357.125045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.63; MB_Bottom_Detect_Filter_Max_Range = 276.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 366.593041 meters looking forward 100.000000 meters along route # Maximum depth: 378.648402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.593041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807842; longitude = -122.017455; captureRadius = 10; duration = 78; initialDepth = 326.323594; finalDepth = 316.593041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.193478 # Actual altitude: 54.193478 # Commanded vehicle depth:316.593041 # Seafloor depth:-370.786519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 376.323594 meters looking forward 100.000000 meters along route # Maximum depth: 383.920677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.323594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808129; longitude = -122.016661; captureRadius = 10; duration = 78; initialDepth = 330.885373; finalDepth = 326.323594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.193478 # Actual altitude: 54.193478 # Commanded vehicle depth:326.323594 # Seafloor depth:-378.741022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 380.885373 meters looking forward 100.000000 meters along route # Maximum depth: 384.779038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.885373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808409; longitude = -122.015885; captureRadius = 10; duration = 78; initialDepth = 332.167034; finalDepth = 330.885373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.417428 # Actual altitude: 52.417428 # Commanded vehicle depth:330.885373 # Seafloor depth:-381.977331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 382.167034 meters looking forward 100.000000 meters along route # Maximum depth: 393.933917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.167034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808693; longitude = -122.015101; captureRadius = 10; duration = 78; initialDepth = 337.804564; finalDepth = 332.167034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.676452 # Actual altitude: 53.676452 # Commanded vehicle depth:332.167034 # Seafloor depth:-385.843486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 387.804564 meters looking forward 100.000000 meters along route # Maximum depth: 393.933917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.804564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808977; longitude = -122.014316; captureRadius = 10; duration = 78; initialDepth = 335.113494; finalDepth = 337.804564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.940466 # Actual altitude: 55.940466 # Commanded vehicle depth:337.804564 # Seafloor depth:-393.745030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 385.113494 meters looking forward 100.000000 meters along route # Maximum depth: 388.388234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.113494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809261; longitude = -122.013531; captureRadius = 10; duration = 78; initialDepth = 328.932532; finalDepth = 335.113494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.940466 # Actual altitude: 55.940466 # Commanded vehicle depth:335.113494 # Seafloor depth:-387.704785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 378.932532 meters looking forward 100.000000 meters along route # Maximum depth: 386.181593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.932532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809545; longitude = -122.012747; captureRadius = 10; duration = 78; initialDepth = 306.982702; finalDepth = 328.932532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.963467 # Actual altitude: 56.963467 # Commanded vehicle depth:328.932532 # Seafloor depth:-385.895999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 356.982702 meters looking forward 100.000000 meters along route # Maximum depth: 381.339651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.982702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809828; longitude = -122.011962; captureRadius = 10; duration = 78; initialDepth = 295.440313; finalDepth = 306.982702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.662747 # Actual altitude: 70.662747 # Commanded vehicle depth:306.982702 # Seafloor depth:-377.645449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 282.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 345.440313 meters looking forward 100.000000 meters along route # Maximum depth: 362.560886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.440313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810112; longitude = -122.011178; captureRadius = 10; duration = 78; initialDepth = 294.518967; finalDepth = 295.440313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.662747 # Actual altitude: 70.662747 # Commanded vehicle depth:295.440313 # Seafloor depth:-356.951120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 282.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 344.518967 meters looking forward 100.000000 meters along route # Maximum depth: 347.073930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.518967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810396; longitude = -122.010393; captureRadius = 10; duration = 78; initialDepth = 294.902228; finalDepth = 294.518967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.510807 # Actual altitude: 61.510807 # Commanded vehicle depth:294.518967 # Seafloor depth:-345.287032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 246.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 344.902228 meters looking forward 100.000000 meters along route # Maximum depth: 352.003264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.902228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810680; longitude = -122.009608; captureRadius = 10; duration = 78; initialDepth = 298.090413; finalDepth = 294.902228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.527958 # Actual altitude: 51.527958 # Commanded vehicle depth:294.902228 # Seafloor depth:-346.430186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 348.090413 meters looking forward 100.000000 meters along route # Maximum depth: 352.003264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.090413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810968; longitude = -122.008812; captureRadius = 10; duration = 78; initialDepth = 292.719306; finalDepth = 298.090413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.279178 # Actual altitude: 52.279178 # Commanded vehicle depth:298.090413 # Seafloor depth:-350.369591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 342.719306 meters looking forward 100.000000 meters along route # Maximum depth: 348.468565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.719306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811247; longitude = -122.008039; captureRadius = 10; duration = 78; initialDepth = 265.557457; finalDepth = 292.719306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.17854 # Actual altitude: 55.17854 # Commanded vehicle depth:292.719306 # Seafloor depth:-347.897846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 315.557457 meters looking forward 100.000000 meters along route # Maximum depth: 346.347555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.557457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811531; longitude = -122.007254; captureRadius = 10; duration = 78; initialDepth = 235.529488; finalDepth = 265.557457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.185891 # Actual altitude: 75.185891 # Commanded vehicle depth:265.557457 # Seafloor depth:-340.743348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 300.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 285.529488 meters looking forward 100.000000 meters along route # Maximum depth: 320.950499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.529488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811815; longitude = -122.006470; captureRadius = 10; duration = 78; initialDepth = 228.132784; finalDepth = 235.529488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.905995 # Actual altitude: 77.905995 # Commanded vehicle depth:235.529488 # Seafloor depth:-313.435483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.62; 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 = 311.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 278.132784 meters looking forward 100.000000 meters along route # Maximum depth: 291.164063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.132784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812099; longitude = -122.005685; captureRadius = 10; duration = 78; initialDepth = 229.364745; finalDepth = 228.132784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.905995 # Actual altitude: 77.905995 # Commanded vehicle depth:228.132784 # Seafloor depth:-285.009934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.62; 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 = 311.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 279.364745 meters looking forward 100.000000 meters along route # Maximum depth: 300.767041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.364745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812382; longitude = -122.004901; captureRadius = 10; duration = 78; initialDepth = 245.661937; finalDepth = 229.364745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.87715 # Actual altitude: 56.87715 # Commanded vehicle depth:229.364745 # Seafloor depth:-281.657116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 295.661937 meters looking forward 100.000000 meters along route # Maximum depth: 330.139607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.661937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812666; longitude = -122.004116; captureRadius = 10; duration = 78; initialDepth = 268.711310; finalDepth = 245.661937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.078847 # Actual altitude: 57.078847 # Commanded vehicle depth:245.661937 # Seafloor depth:-302.740784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 320.240843 meters looking forward 100.000000 meters along route # Maximum depth: 366.394775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.711310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812950; longitude = -122.003330; captureRadius = 10; duration = 78; initialDepth = 291.709227; finalDepth = 268.711310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4653171000001 # Actual altitude: 61.4653171000001 # Commanded vehicle depth:268.7113099 # Seafloor depth:-330.176627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 245.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 357.702185 meters looking forward 100.000000 meters along route # Maximum depth: 398.450120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.709227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813234; longitude = -122.002547; captureRadius = 10; duration = 78; initialDepth = 314.732771; finalDepth = 291.709227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6637702000002 # Actual altitude: 76.6637702000002 # Commanded vehicle depth:291.7092268 # Seafloor depth:-368.372997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.66; 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 = 306.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 395.354834 meters looking forward 100.000000 meters along route # Maximum depth: 407.271787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.732771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813518; longitude = -122.001762; captureRadius = 10; duration = 78; initialDepth = 338.171306; finalDepth = 314.732771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0157758000001 # Actual altitude: 84.0157758000001 # Commanded vehicle depth:314.7327712 # Seafloor depth:-398.748547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 336.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 78.360397 meters # Minimum depth: 403.672685 meters looking forward 100.000000 meters along route # Maximum depth: 411.564368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.171306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813807; longitude = -122.000963; captureRadius = 10; duration = 78; initialDepth = 344.502855; finalDepth = 338.171306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0157758000001 # Actual altitude: 84.0157758000001 # Commanded vehicle depth:338.1713056 # Seafloor depth:-406.737526 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 336.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.06; 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 9 # Segment length 78.360397 meters # Minimum depth: 394.502855 meters looking forward 100.000000 meters along route # Maximum depth: 412.963287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.502855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814092; longitude = -122.000174; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 322.274195; finalDepth = 344.502855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5662204000001 # Actual altitude: 68.5662204000001 # Commanded vehicle depth:344.502855 # Seafloor depth:-412.963287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 78.360397 meters # Minimum depth: 372.274195 meters looking forward 100.000000 meters along route # Maximum depth: 399.156116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.274195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814423; longitude = -122.000697; captureRadius = 10; duration = 78; initialDepth = 322.274195; finalDepth = 322.274195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.218152 # Actual altitude: 69.218152 # Commanded vehicle depth:322.274195 # Seafloor depth:-391.492347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 78.360397 meters # Minimum depth: 372.274195 meters looking forward 100.000000 meters along route # Maximum depth: 382.793480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.274195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814843; longitude = -122.001359; captureRadius = 10; duration = 78; initialDepth = 299.552245; finalDepth = 322.274195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 69.218152 # Actual altitude: 69.218152 # Commanded vehicle depth:322.274195 # Seafloor depth:-377.665841 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 78.360397 meters # Minimum depth: 349.552245 meters looking forward 100.000000 meters along route # Maximum depth: 382.640652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.552245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815264; longitude = -122.002024; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 273.360444; finalDepth = 299.552245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.088357 # Actual altitude: 81.088357 # Commanded vehicle depth:299.552245 # Seafloor depth:-380.640602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 324.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 323.360444 meters looking forward 100.000000 meters along route # Maximum depth: 366.044044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.360444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815016; longitude = -122.002771; captureRadius = 10; duration = 78; initialDepth = 253.820774; finalDepth = 273.360444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.088357 # Actual altitude: 81.088357 # Commanded vehicle depth:273.360444 # Seafloor depth:-350.054883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 324.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 303.820774 meters looking forward 100.000000 meters along route # Maximum depth: 332.806189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.820774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814756; longitude = -122.003555; captureRadius = 10; duration = 78; initialDepth = 234.972746; finalDepth = 253.820774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.694439 # Actual altitude: 76.694439 # Commanded vehicle depth:253.820774 # Seafloor depth:-323.400858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.78; 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 = 306.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 284.972746 meters looking forward 100.000000 meters along route # Maximum depth: 307.626190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.972746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814495; longitude = -122.004340; captureRadius = 10; duration = 78; initialDepth = 211.455180; finalDepth = 234.972746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.5800840000001 # Actual altitude: 69.5800840000001 # Commanded vehicle depth:234.972746 # Seafloor depth:-302.723027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 278.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 261.455180 meters looking forward 100.000000 meters along route # Maximum depth: 289.814491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.455180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814235; longitude = -122.005125; captureRadius = 10; duration = 78; initialDepth = 197.073079; finalDepth = 211.455180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.363915 # Actual altitude: 71.363915 # Commanded vehicle depth:211.45518 # Seafloor depth:-282.819095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 285.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 247.073079 meters looking forward 100.000000 meters along route # Maximum depth: 265.052161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.073079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813974; longitude = -122.005909; captureRadius = 10; duration = 78; initialDepth = 190.815223; finalDepth = 197.073079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.363915 # Actual altitude: 71.363915 # Commanded vehicle depth:197.073079 # Seafloor depth:-260.990346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 285.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 240.815223 meters looking forward 100.000000 meters along route # Maximum depth: 250.324467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.815223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813714; longitude = -122.006694; captureRadius = 10; duration = 78; initialDepth = 190.815223; finalDepth = 190.815223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.917267 # Actual altitude: 63.917267 # Commanded vehicle depth:190.815223 # Seafloor depth:-246.879647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 255.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 240.815223 meters looking forward 100.000000 meters along route # Maximum depth: 263.448123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.815223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813453; longitude = -122.007479; captureRadius = 10; duration = 78; initialDepth = 209.915574; finalDepth = 190.815223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.064424 # Actual altitude: 56.064424 # Commanded vehicle depth:190.815223 # Seafloor depth:-241.923468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 78.360397 meters # Minimum depth: 259.915574 meters looking forward 100.000000 meters along route # Maximum depth: 278.109658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.915574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813193; longitude = -122.008263; captureRadius = 10; duration = 78; initialDepth = 197.563473; finalDepth = 209.915574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.354075 # Actual altitude: 54.354075 # Commanded vehicle depth:209.915574 # Seafloor depth:-264.269649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.42; 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 7 # Segment length 78.360397 meters # Minimum depth: 247.563473 meters looking forward 100.000000 meters along route # Maximum depth: 278.443672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.563473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812920; longitude = -122.009085; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 163.945190; finalDepth = 197.563473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.880199 # Actual altitude: 80.880199 # Commanded vehicle depth:197.563473 # Seafloor depth:-278.443672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.52; 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 = 323.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 78.360397 meters # Minimum depth: 213.945190 meters looking forward 100.000000 meters along route # Maximum depth: 256.125122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.945190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813536; longitude = -122.009441; captureRadius = 10; duration = 78; initialDepth = 150.246431; finalDepth = 163.945190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 83.562429 # Actual altitude: 83.562429 # Commanded vehicle depth:163.94519 # Seafloor depth:-247.507619 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 334.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 78.360397 meters # Minimum depth: 200.246431 meters looking forward 100.000000 meters along route # Maximum depth: 227.151190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.246431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814182; longitude = -122.009814; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 144.020692; finalDepth = 150.246431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.562429 # Actual altitude: 83.562429 # Commanded vehicle depth:150.246431 # Seafloor depth:-213.797932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 334.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 194.020692 meters looking forward 100.000000 meters along route # Maximum depth: 202.272235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.020692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814447; longitude = -122.009104; captureRadius = 10; duration = 78; initialDepth = 142.218478; finalDepth = 144.020692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.551501 # Actual altitude: 63.551501 # Commanded vehicle depth:144.020692 # Seafloor depth:-200.078771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 254.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 192.218478 meters looking forward 100.000000 meters along route # Maximum depth: 201.504767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.218478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814739; longitude = -122.008319; captureRadius = 10; duration = 78; initialDepth = 146.102001; finalDepth = 142.218478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.058079 # Actual altitude: 56.058079 # Commanded vehicle depth:142.218478 # Seafloor depth:-193.155703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 196.102001 meters looking forward 100.000000 meters along route # Maximum depth: 231.731147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.102001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815032; longitude = -122.007535; captureRadius = 10; duration = 78; initialDepth = 169.245048; finalDepth = 146.102001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.736849 # Actual altitude: 55.736849 # Commanded vehicle depth:146.102001 # Seafloor depth:-201.838850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 225.683636 meters looking forward 100.000000 meters along route # Maximum depth: 259.708512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.245048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815324; longitude = -122.006750; captureRadius = 10; duration = 78; initialDepth = 192.388027; finalDepth = 169.245048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3678557 # Actual altitude: 64.3678557 # Commanded vehicle depth:169.2450483 # Seafloor depth:-233.612904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 257.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 253.326136 meters looking forward 100.000000 meters along route # Maximum depth: 296.711900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.388027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815617; longitude = -122.005965; captureRadius = 10; duration = 78; initialDepth = 215.530937; finalDepth = 192.388027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8707291 # Actual altitude: 67.8707291 # Commanded vehicle depth:192.3880269 # Seafloor depth:-260.258756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 290.925533 meters looking forward 100.000000 meters along route # Maximum depth: 306.810682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.530937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815909; longitude = -122.005181; captureRadius = 10; duration = 78; initialDepth = 238.143145; finalDepth = 215.530937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8204541999999 # Actual altitude: 82.8204541999999 # Commanded vehicle depth:215.5309368 # Seafloor depth:-298.351391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 331.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 78.360397 meters # Minimum depth: 303.067702 meters looking forward 100.000000 meters along route # Maximum depth: 322.077798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.143145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816195; longitude = -122.004414; captureRadius = 10; duration = 78; initialDepth = 250.308328; finalDepth = 238.143145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8204541999999 # Actual altitude: 82.8204541999999 # Commanded vehicle depth:238.1431449 # Seafloor depth:-303.443608 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 331.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.28; 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 78.360397 meters # Minimum depth: 300.308328 meters looking forward 100.000000 meters along route # Maximum depth: 322.557762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.308328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816480; longitude = -122.003649; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 224.770452; finalDepth = 250.308328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.249434 # Actual altitude: 72.249434 # Commanded vehicle depth:250.308328 # Seafloor depth:-322.557762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.90; MB_Bottom_Detect_Filter_Max_Range = 289.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 78.360397 meters # Minimum depth: 274.770452 meters looking forward 100.000000 meters along route # Maximum depth: 307.131523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.770452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816732; longitude = -122.004172; captureRadius = 10; duration = 78; initialDepth = 170.186944; finalDepth = 224.770452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.138769 # Actual altitude: 73.138769 # Commanded vehicle depth:224.770452 # Seafloor depth:-297.909221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 292.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 78.360397 meters # Minimum depth: 220.186944 meters looking forward 100.000000 meters along route # Maximum depth: 281.388411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.186944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817082; longitude = -122.004901; captureRadius = 10; duration = 78; initialDepth = 169.098802; finalDepth = 170.186944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 97.81073 # Actual altitude: 97.81073 # Commanded vehicle depth:170.186944 # Seafloor depth:-267.997674 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 39.12; 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 4 # Segment length 78.360397 meters # Minimum depth: 219.098802 meters looking forward 100.000000 meters along route # Maximum depth: 225.592641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.098802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817442; longitude = -122.005648; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 167.288336; finalDepth = 169.098802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.81073 # Actual altitude: 97.81073 # Commanded vehicle depth:169.098802 # Seafloor depth:-220.192497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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 = 39.12; 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 78.360397 meters # Minimum depth: 217.288336 meters looking forward 100.000000 meters along route # Maximum depth: 224.017952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.288336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817182; longitude = -122.006414; captureRadius = 10; duration = 78; initialDepth = 144.957392; finalDepth = 167.288336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.056632 # Actual altitude: 54.056632 # Commanded vehicle depth:167.288336 # Seafloor depth:-221.344968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 194.957392 meters looking forward 100.000000 meters along route # Maximum depth: 220.265149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.957392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816915; longitude = -122.007198; captureRadius = 10; duration = 78; initialDepth = 121.393082; finalDepth = 144.957392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.296196 # Actual altitude: 72.296196 # Commanded vehicle depth:144.957392 # Seafloor depth:-217.253588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 289.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 171.393082 meters looking forward 100.000000 meters along route # Maximum depth: 202.524104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.393082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816645; longitude = -122.007991; captureRadius = 10; duration = 78; initialDepth = 101.256935; finalDepth = 121.393082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.460087 # Actual altitude: 73.460087 # Commanded vehicle depth:121.393082 # Seafloor depth:-194.853169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 293.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 151.256935 meters looking forward 100.000000 meters along route # Maximum depth: 177.755484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.256935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816381; longitude = -122.008768; captureRadius = 10; duration = 78; initialDepth = 98.852362; finalDepth = 101.256935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.460087 # Actual altitude: 73.460087 # Commanded vehicle depth:101.256935 # Seafloor depth:-169.498380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 293.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 148.852362 meters looking forward 100.000000 meters along route # Maximum depth: 154.022271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.852362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816115; longitude = -122.009552; captureRadius = 10; duration = 78; initialDepth = 97.075382; finalDepth = 98.852362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.241445 # Actual altitude: 68.241445 # Commanded vehicle depth:98.852362 # Seafloor depth:-150.730805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 272.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 147.075382 meters looking forward 100.000000 meters along route # Maximum depth: 150.896488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.075382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815848; longitude = -122.010337; captureRadius = 10; duration = 78; initialDepth = 93.545298; finalDepth = 97.075382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.749456 # Actual altitude: 52.749456 # Commanded vehicle depth:97.075382 # Seafloor depth:-149.824838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 143.545298 meters looking forward 100.000000 meters along route # Maximum depth: 150.525393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.545298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815581; longitude = -122.011121; captureRadius = 10; duration = 78; initialDepth = 90.195118; finalDepth = 93.545298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.414489 # Actual altitude: 54.414489 # Commanded vehicle depth:93.545298 # Seafloor depth:-147.959787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 140.195118 meters looking forward 100.000000 meters along route # Maximum depth: 147.278320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.195118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815314; longitude = -122.011906; captureRadius = 10; duration = 78; initialDepth = 85.313227; finalDepth = 90.195118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.414489 # Actual altitude: 54.414489 # Commanded vehicle depth:90.195118 # Seafloor depth:-143.726386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 78.360397 meters # Minimum depth: 135.313227 meters looking forward 100.000000 meters along route # Maximum depth: 141.603823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.313227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815048; longitude = -122.012691; captureRadius = 10; duration = 78; initialDepth = 64.963330; finalDepth = 85.313227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.410939 # Actual altitude: 55.410939 # Commanded vehicle depth:85.313227 # Seafloor depth:-140.724166 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 78.360397 meters # Minimum depth: 114.963330 meters looking forward 100.000000 meters along route # Maximum depth: 137.540581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.963330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814768; longitude = -122.013513; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 56.389222; finalDepth = 64.963330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.918884 # Actual altitude: 70.918884 # Commanded vehicle depth:64.96333 # Seafloor depth:-135.882214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 283.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 78.360397 meters # Minimum depth: 106.389222 meters looking forward 100.000000 meters along route # Maximum depth: 117.001483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.389222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815384; longitude = -122.013868; captureRadius = 10; duration = 78; initialDepth = 55.885636; finalDepth = 56.389222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 70.918884 # Actual altitude: 70.918884 # Commanded vehicle depth:56.389222 # Seafloor depth:-114.945498 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 283.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 78.360397 meters # Minimum depth: 105.885636 meters looking forward 100.000000 meters along route # Maximum depth: 113.767948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.885636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816030; longitude = -122.014241; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 55.218485; finalDepth = 55.885636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.556276 # Actual altitude: 58.556276 # Commanded vehicle depth:55.885636 # Seafloor depth:-106.120293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 105.218485 meters looking forward 100.000000 meters along route # Maximum depth: 106.999778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.218485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816124; longitude = -122.013980; captureRadius = 10; duration = 78; initialDepth = 55.843981; finalDepth = 55.218485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.740864 # Actual altitude: 50.740864 # Commanded vehicle depth:55.218485 # Seafloor depth:-105.959349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 105.843981 meters looking forward 100.000000 meters along route # Maximum depth: 113.989134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.843981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816407; longitude = -122.013195; captureRadius = 10; duration = 78; initialDepth = 62.252948; finalDepth = 55.843981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.090703 # Actual altitude: 52.090703 # Commanded vehicle depth:55.843981 # Seafloor depth:-107.934684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 112.252948 meters looking forward 100.000000 meters along route # Maximum depth: 118.561547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.252948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816690; longitude = -122.012408; captureRadius = 10; duration = 78; initialDepth = 67.750583; finalDepth = 62.252948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.090703 # Actual altitude: 52.090703 # Commanded vehicle depth:62.252948 # Seafloor depth:-113.999441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 117.750583 meters looking forward 100.000000 meters along route # Maximum depth: 123.267853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.750583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816972; longitude = -122.011626; captureRadius = 10; duration = 78; initialDepth = 72.375618; finalDepth = 67.750583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.746493 # Actual altitude: 51.746493 # Commanded vehicle depth:67.750583 # Seafloor depth:-118.080245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 122.375618 meters looking forward 100.000000 meters along route # Maximum depth: 130.223210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.375618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817255; longitude = -122.010841; captureRadius = 10; duration = 78; initialDepth = 78.697427; finalDepth = 72.375618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.124144 # Actual altitude: 51.124144 # Commanded vehicle depth:72.375618 # Seafloor depth:-123.499762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 128.697427 meters looking forward 100.000000 meters along route # Maximum depth: 138.969836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.697427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817538; longitude = -122.010057; captureRadius = 10; duration = 78; initialDepth = 87.728015; finalDepth = 78.697427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.868576 # Actual altitude: 51.868576 # Commanded vehicle depth:78.697427 # Seafloor depth:-130.566003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 78.360397 meters # Minimum depth: 137.728015 meters looking forward 100.000000 meters along route # Maximum depth: 151.757942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.728015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817821; longitude = -122.009272; captureRadius = 10; duration = 78; initialDepth = 91.422434; finalDepth = 87.728015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.868576 # Actual altitude: 51.868576 # Commanded vehicle depth:87.728015 # Seafloor depth:-138.725178 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.47; 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 78.360397 meters # Minimum depth: 141.422434 meters looking forward 100.000000 meters along route # Maximum depth: 151.872536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.422434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818117; longitude = -122.008450; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 76.893535; finalDepth = 91.422434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.450102 # Actual altitude: 60.450102 # Commanded vehicle depth:91.422434 # Seafloor depth:-151.872536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 126.893535 meters looking forward 100.000000 meters along route # Maximum depth: 148.532657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.893535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818235; longitude = -122.008712; captureRadius = 10; duration = 78; initialDepth = 64.380700; finalDepth = 76.893535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.210034 # Actual altitude: 67.210034 # Commanded vehicle depth:76.893535 # Seafloor depth:-144.103569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 268.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 114.380700 meters looking forward 100.000000 meters along route # Maximum depth: 130.792433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.380700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818591; longitude = -122.009496; captureRadius = 10; duration = 78; initialDepth = 54.513025; finalDepth = 64.380700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.210034 # Actual altitude: 67.210034 # Commanded vehicle depth:64.3807 # Seafloor depth:-126.565560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 268.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 104.513025 meters looking forward 100.000000 meters along route # Maximum depth: 117.184741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.513025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818944; longitude = -122.010276; captureRadius = 10; duration = 78; initialDepth = 50.675947; finalDepth = 54.513025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.18486 # Actual altitude: 62.18486 # Commanded vehicle depth:54.513025 # Seafloor depth:-112.433718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 100.675947 meters looking forward 100.000000 meters along route # Maximum depth: 105.556518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.675947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819275; longitude = -122.011009; captureRadius = 10; duration = 78; initialDepth = 48.432132; finalDepth = 50.675947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.920693 # Actual altitude: 57.920693 # Commanded vehicle depth:50.675947 # Seafloor depth:-104.121467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 98.432132 meters looking forward 100.000000 meters along route # Maximum depth: 101.355218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.432132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819631; longitude = -122.011794; captureRadius = 10; duration = 78; initialDepth = 47.029491; finalDepth = 48.432132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.44552 # Actual altitude: 53.44552 # Commanded vehicle depth:48.432132 # Seafloor depth:-100.643371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 97.029491 meters looking forward 100.000000 meters along route # Maximum depth: 99.104517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.029491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819980; longitude = -122.012566; captureRadius = 10; duration = 78; initialDepth = 46.047997; finalDepth = 47.029491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.211239 # Actual altitude: 52.211239 # Commanded vehicle depth:47.029491 # Seafloor depth:-98.970366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 96.047997 meters looking forward 100.000000 meters along route # Maximum depth: 98.015498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.047997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820316; longitude = -122.013307; captureRadius = 10; duration = 78; initialDepth = 46.047997; finalDepth = 46.047997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.961671 # Actual altitude: 51.961671 # Commanded vehicle depth:46.047997 # Seafloor depth:-98.009668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 96.047997 meters looking forward 100.000000 meters along route # Maximum depth: 97.079679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.047997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820656; longitude = -122.014059; captureRadius = 10; duration = 78; initialDepth = 46.074649; finalDepth = 46.047997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.961671 # Actual altitude: 51.961671 # Commanded vehicle depth:46.047997 # Seafloor depth:-96.468016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 78.360397 meters # Minimum depth: 96.074649 meters looking forward 100.000000 meters along route # Maximum depth: 96.932182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.074649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821000; longitude = -122.014820; captureRadius = 10; duration = 78; initialDepth = 46.074649; finalDepth = 46.074649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.595569 # Actual altitude: 50.595569 # Commanded vehicle depth:46.074649 # Seafloor depth:-96.670218 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50.595569 # Sonar parameter altitude: 50.595569 # Commanded vehicle depth:46.074649 # Seafloor depth:-96.618675 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 202.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 78.360397 meters # Minimum depth: 96.074649 meters looking forward 100.000000 meters along route # Maximum depth: 96.932182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 661.867167 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.074649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821347; longitude = -122.015586; captureRadius = 10; duration = 600; initialDepth = 46.074649; finalDepth = 46.074649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 118.786965; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 118.786965; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################