# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2010_Taney_2v1.rte # Mission File: 2010_Taney_2v1.cfg # Distance: 73735.221351 (m) # Estimated Time: 53096 (s) 14.749 (hr) # Abort Time: 57600 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 3697 (s) # Way Points: 127 # Route Points: 685 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom disabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 3284.932186 (m) # Abort Vehicle Depth: 3322.432186 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3237.791077 m # Spiral descent altitude: 75 m # Forward Looking Distance: 50 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -125.527812 36.826968 -3322.791077 0.000000 3 # 1 -125.541352 36.816530 -3284.292603 1674.039362 1 # 2 -125.546711 36.816449 -3212.000122 2152.423280 3 # 3 -125.547866 36.812113 -3182.848938 2644.622016 1 # 4 -125.552371 36.810299 -3174.680359 3094.368336 1 # 5 -125.556454 36.810885 -3164.696899 3464.508076 1 # 6 -125.559276 36.812609 -3165.445190 3780.853417 1 # 7 -125.560094 36.814545 -3165.228943 4007.813143 1 # 8 -125.559932 36.816734 -3185.327637 4251.240465 1 # 9 -125.557525 36.819300 -3235.587769 4607.992237 4 # 10 -125.555696 36.818311 -3176.980103 4804.750209 3 # 11 -125.557468 36.816184 -3161.474243 5088.880322 1 # 12 -125.557695 36.814192 -3156.228760 5310.925166 1 # 13 -125.555841 36.812616 -3163.095032 5551.768323 1 # 14 -125.552398 36.812353 -3165.021851 5860.494075 1 # 15 -125.549505 36.813560 -3173.841125 6151.328814 1 # 16 -125.548894 36.816604 -3192.277527 6493.630028 1 # 17 -125.547662 36.819864 -3260.171204 6871.814175 4 # 18 -125.550105 36.820250 -3225.799744 7093.953356 3 # 19 -125.551450 36.816617 -3177.613037 7514.689860 1 # 20 -125.552461 36.814271 -3158.169250 7790.260541 4 # 21 -125.555227 36.814313 -3162.594238 8037.174403 3 # 22 -125.554058 36.816931 -3172.469360 8346.013233 1 # 23 -125.553465 36.819268 -3199.390686 8610.726308 3 # 24 -125.558938 36.822258 -3205.102478 9201.218157 1 # 25 -125.562642 36.824619 -3184.509155 9623.047030 1 # 26 -125.567086 36.824669 -3184.006348 10019.657287 1 # 27 -125.572698 36.825786 -3158.623291 10535.576068 1 # 28 -125.577085 36.828205 -3129.528625 11010.289039 1 # 29 -125.578163 36.830623 -3128.276123 11295.409212 1 # 30 -125.577099 36.834035 -3137.236694 11685.867394 1 # 31 -125.576839 36.838449 -3148.742432 12176.380818 1 # 32 -125.576442 36.844178 -3111.382874 12813.299518 1 # 33 -125.575318 36.848502 -3110.872681 13303.637066 1 # 34 -125.570984 36.851766 -3113.575317 13833.496882 1 # 35 -125.566828 36.854916 -3144.626160 14343.107545 1 # 36 -125.564143 36.857343 -3131.130920 14703.579223 1 # 37 -125.560966 36.859962 -3147.304993 15109.559261 1 # 38 -125.557255 36.861473 -3171.823669 15480.631595 1 # 39 -125.553364 36.859069 -3188.869568 15918.419812 1 # 40 -125.548911 36.856170 -3199.317322 16429.613769 1 # 41 -125.545772 36.854729 -3161.909729 16752.081889 1 # 42 -125.542369 36.851963 -3156.561096 17183.838905 4 # 43 -125.543764 36.850452 -3157.696228 17392.684516 3 # 44 -125.547339 36.853081 -3160.643127 17824.960052 1 # 45 -125.550401 36.854906 -3201.442871 18165.021953 1 # 46 -125.554550 36.857685 -3191.642334 18646.813444 1 # 47 -125.557692 36.859475 -3176.139709 18990.359563 3 # 48 -125.562289 36.856215 -3183.694763 19537.246048 1 # 49 -125.565125 36.853709 -3185.048950 19913.246865 1 # 50 -125.569398 36.850487 -3174.320435 20435.939587 1 # 51 -125.573077 36.847702 -3141.644348 20886.810291 1 # 52 -125.574045 36.843933 -3157.185303 21313.998155 1 # 53 -125.574384 36.838319 -3153.149353 21937.898697 1 # 54 -125.574675 36.833685 -3147.390564 22452.937995 1 # 55 -125.575664 36.830534 -3148.766418 22813.666858 1 # 56 -125.573948 36.828941 -3164.280945 23047.577054 1 # 57 -125.571104 36.827569 -3177.892456 23343.547016 1 # 58 -125.566941 36.826746 -3185.355896 23726.099265 1 # 59 -125.559425 36.825083 -3187.610107 24421.735934 4 # 60 -125.559162 36.826914 -3183.180054 24626.329706 3 # 61 -125.566563 36.828537 -3180.463379 25310.899172 1 # 62 -125.570396 36.829409 -3180.028564 25666.342226 1 # 63 -125.572828 36.830595 -3173.762390 25920.163298 1 # 64 -125.572472 36.833309 -3162.764404 26223.093028 1 # 65 -125.572099 36.838159 -3156.824219 26762.435732 1 # 66 -125.571688 36.843788 -3171.762207 27388.387442 1 # 67 -125.570741 36.847003 -3179.474731 27755.123714 1 # 68 -125.563537 36.852309 -3199.336914 28626.848015 1 # 69 -125.560623 36.854914 -3186.351074 29015.669248 1 # 70 -125.557055 36.857725 -3190.548096 29461.409549 4 # 71 -125.555183 36.856449 -3190.147583 29680.374474 3 # 72 -125.558909 36.853561 -3168.013977 30142.204169 1 # 73 -125.562296 36.851140 -3191.597534 30546.508616 1 # 74 -125.568491 36.846179 -3190.489441 31326.677733 1 # 75 -125.569280 36.843639 -3182.726807 31617.293601 1 # 76 -125.569995 36.838116 -3162.851257 32233.636316 1 # 77 -125.570827 36.831143 -3176.944702 33011.222445 1 # 78 -125.559000 36.828458 -3185.891663 34107.753830 4 # 79 -125.558648 36.830177 -3182.753357 34301.131977 3 # 80 -125.568437 36.832336 -3179.368225 35206.854531 1 # 81 -125.566474 36.845203 -3199.160583 36645.884807 1 # 82 -125.553614 36.855254 -3185.473206 38246.097426 4 # 83 -125.552039 36.853862 -3195.132629 38454.976793 3 # 84 -125.564169 36.844196 -3202.319519 39978.801406 1 # 85 -125.565849 36.833664 -3185.150818 41157.433150 1 # 86 -125.563060 36.832342 -3179.117004 41446.300951 4 # 87 -125.560771 36.833247 -3149.641846 41673.984615 3 # 88 -125.562033 36.834273 -3106.920471 41834.169277 1 # 89 -125.563411 36.835494 -3185.181458 42017.169389 1 # 90 -125.561891 36.843093 -3213.502563 42871.460829 1 # 91 -125.550240 36.853070 -3184.630432 44390.352762 4 # 92 -125.548318 36.851911 -3169.480835 44604.701070 3 # 93 -125.559646 36.842084 -3198.081726 46091.635239 1 # 94 -125.562014 36.830434 -3181.865295 47401.987393 4 # 95 -125.560008 36.830016 -3181.195801 47586.920661 3 # 96 -125.559537 36.832286 -3081.982727 47842.367814 1 # 97 -125.557370 36.841052 -3122.985657 48834.432594 1 # 98 -125.546736 36.851080 -3158.828491 50296.929917 4 # 99 -125.545048 36.849723 -3154.763245 50509.948714 3 # 100 -125.555364 36.840039 -3052.294678 51925.105230 1 # 101 -125.557299 36.831457 -3074.140869 52893.211540 1 # 102 -125.557870 36.822386 -3192.597839 53901.417149 3 # 103 -125.554579 36.821249 -3186.074341 54221.058845 1 # 104 -125.550016 36.821347 -3169.204956 54628.485432 1 # 105 -125.546587 36.822262 -3203.992798 54950.829517 1 # 106 -125.545446 36.829205 -3215.982483 55728.200304 1 # 107 -125.547714 36.831810 -3207.012939 56081.119754 1 # 108 -125.547022 36.835853 -3119.897400 56534.079292 1 # 109 -125.537666 36.845293 -3163.769470 57873.820134 4 # 110 -125.543486 36.848580 -3157.141724 58508.321932 3 # 111 -125.553417 36.838976 -3030.684570 59894.468644 1 # 112 -125.555632 36.826558 -3014.754761 61286.921857 1 # 113 -125.554871 36.824362 -3022.116638 61540.051872 4 # 114 -125.553513 36.823915 -3018.549561 61670.935910 3 # 115 -125.551498 36.837888 -2933.675415 63232.397923 1 # 116 -125.541640 36.847899 -3170.268005 64649.492871 4 # 117 -125.539659 36.846740 -3160.894653 64868.041269 3 # 118 -125.549283 36.836879 -3016.325012 66259.207919 1 # 119 -125.551445 36.824027 -3017.522095 67698.797258 4 # 120 -125.548955 36.824818 -3036.764526 67937.681750 3 # 121 -125.547344 36.833097 -3199.679199 68867.933214 1 # 122 -125.544873 36.835046 -3172.960388 69176.731439 1 # 123 -125.540128 36.839507 -3192.674561 69828.247042 3 # 124 -125.544923 36.847223 -3098.780640 70785.653079 3 # 125 -125.558793 36.847636 -3189.581360 72023.819368 3 # 126 -125.548978 36.834389 -3108.371826 73735.221351 4 # # A total of 685 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 73735.221351 #define MISSION_TIME 53096 #define MISSION_TIMEOUT 57600 #define DEPTH_MAX 3284.932186 #define DEPTH_ABORT 3322.432186 #define ALTITUDE_DESIRED 75.000000 #define ALTITUDE_MIN 75.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 3237.791077 #define SPIRAL_DESCENT_ALTITUDE 75.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3697; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 140.421861 meters # Minimum depth: 3081.028706 meters looking forward 50.000000 meters along route # Maximum depth: 3108.371826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3006.028706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834389; longitude = -125.548978; captureRadius = 10; duration = 280; # abortOnTimeout = True; initialDepth = 2959.900412; finalDepth = 3006.028706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.34312 # Actual altitude: 100 # Commanded vehicle depth: 3006.028706 # Seafloor depth: -3108.371826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.784414 meters # Minimum depth: 3034.900412 meters looking forward 50.000000 meters along route # Maximum depth: 3079.227626 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2959.900412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835476; longitude = -125.549784; captureRadius = 10; duration = 209; initialDepth = 2896.424652; finalDepth = 2959.900412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.327214 # Actual altitude: 100 # Commanded vehicle depth: 2959.900412 # Seafloor depth: -3079.227626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 105.076558 meters # Minimum depth: 2971.424652 meters looking forward 50.000000 meters along route # Maximum depth: 3029.694576 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2896.424652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836287; longitude = -125.550384; captureRadius = 10; duration = 210; initialDepth = 2858.935425; finalDepth = 2896.424652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.269924 # Actual altitude: 100 # Commanded vehicle depth: 2896.424652 # Seafloor depth: -3029.694576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.491524 meters # Minimum depth: 2933.935425 meters looking forward 50.000000 meters along route # Maximum depth: 2971.232092 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2858.935425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837100; longitude = -125.550987; captureRadius = 10; duration = 208; initialDepth = 2859.462487; finalDepth = 2858.935425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.269924 # Actual altitude: 100 # Commanded vehicle depth: 2858.935425 # Seafloor depth: -2971.232092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.783667 meters # Minimum depth: 2934.462487 meters looking forward 50.000000 meters along route # Maximum depth: 2966.717958 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2859.462487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837909; longitude = -125.551586; captureRadius = 10; duration = 209; initialDepth = 2897.501210; finalDepth = 2859.462487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.296667 # Actual altitude: 100 # Commanded vehicle depth: 2859.462487 # Seafloor depth: -2934.462487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.783419 meters # Minimum depth: 2972.501210 meters looking forward 50.000000 meters along route # Maximum depth: 3028.363431 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2897.501210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838720; longitude = -125.552187; captureRadius = 10; duration = 209; initialDepth = 2946.362520; finalDepth = 2897.501210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2897.50121 # Seafloor depth: -2972.501210 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 104.783169 meters # Minimum depth: 3029.233588 meters looking forward 50.000000 meters along route # Maximum depth: 3073.227146 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2946.362520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839531; longitude = -125.552788; captureRadius = 10; duration = 209; initialDepth = 2995.223713; finalDepth = 2946.362520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8710682221272 # Actual altitude: 82.8710682221272 # Commanded vehicle depth: 2946.36251977787 # Seafloor depth: -3029.233588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 331.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 108.401474 meters # Minimum depth: 3076.745515 meters looking forward 50.000000 meters along route # Maximum depth: 3096.166628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2995.223713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840342; longitude = -125.553389; captureRadius = 10; duration = 216; initialDepth = 3016.797444; finalDepth = 2995.223713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8710682221272 # Actual altitude: 82.8710682221272 # Commanded vehicle depth: 2995.22371297884 # Seafloor depth: -3076.745515 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 331.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 101.164117 meters # Minimum depth: 3091.797444 meters looking forward 50.000000 meters along route # Maximum depth: 3096.469413 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3016.797444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841182; longitude = -125.554011; captureRadius = 10; duration = 202; initialDepth = 3016.928349; finalDepth = 3016.797444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5218020211651 # Actual altitude: 81.5218020211651 # Commanded vehicle depth: 3016.797444 # Seafloor depth: -3096.469413 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.09; 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 = 326.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 104.782422 meters # Minimum depth: 3091.928349 meters looking forward 50.000000 meters along route # Maximum depth: 3114.388623 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3016.928349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841965; longitude = -125.554591; captureRadius = 10; duration = 209; initialDepth = 3040.584978; finalDepth = 3016.928349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.671969 # Actual altitude: 79.671969 # Commanded vehicle depth: 3016.928349 # Seafloor depth: -3091.928349 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 106.490933 meters # Minimum depth: 3115.584978 meters looking forward 50.000000 meters along route # Maximum depth: 3132.206529 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3040.584978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842776; longitude = -125.555192; captureRadius = 10; duration = 212; initialDepth = 3045.343286; finalDepth = 3040.584978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3040.584978 # Seafloor depth: -3115.584978 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 103.073165 meters # Minimum depth: 3120.343286 meters looking forward 50.000000 meters along route # Maximum depth: 3136.501540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3045.343286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843600; longitude = -125.555803; captureRadius = 10; duration = 206; initialDepth = 3014.514789; finalDepth = 3045.343286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.3326530000004 # Actual altitude: 87.3326530000004 # Commanded vehicle depth: 3045.343286 # Seafloor depth: -3132.675939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 349.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 104.781675 meters # Minimum depth: 3089.514789 meters looking forward 50.000000 meters along route # Maximum depth: 3117.231383 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3014.514789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844398; longitude = -125.556394; captureRadius = 10; duration = 209; initialDepth = 3024.399234; finalDepth = 3014.514789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.716594 # Actual altitude: 100 # Commanded vehicle depth: 3014.514789 # Seafloor depth: -3117.231383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.781426 meters # Minimum depth: 3099.399234 meters looking forward 50.000000 meters along route # Maximum depth: 3148.277214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3024.399234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845209; longitude = -125.556995; captureRadius = 10; duration = 209; initialDepth = 3073.259614; finalDepth = 3024.399234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.716594 # Actual altitude: 100 # Commanded vehicle depth: 3024.399234 # Seafloor depth: -3099.399234 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 126 # Segment length 104.781177 meters # Minimum depth: 3148.379946 meters looking forward 50.000000 meters along route # Maximum depth: 3173.122669 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.259614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846020; longitude = -125.557596; captureRadius = 10; duration = 209; initialDepth = 3099.276811; finalDepth = 3073.259614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.120331573271 # Actual altitude: 75.120331573271 # Commanded vehicle depth: 3073.25961442673 # Seafloor depth: -3148.379946 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 104.020982 meters # Minimum depth: 3174.276811 meters looking forward 50.000000 meters along route # Maximum depth: 3189.707170 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.276811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846831; longitude = -125.558196; captureRadius = 10; duration = 208; initialDepth = 3068.520053; finalDepth = 3099.276811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.120331573271 # Actual altitude: 75.120331573271 # Commanded vehicle depth: 3099.276811 # Seafloor depth: -3174.276811 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.48; 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 125 # Segment length 146.995141 meters # Minimum depth: 3143.520053 meters looking forward 50.000000 meters along route # Maximum depth: 3189.581360 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3068.520053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847636; longitude = -125.558793; captureRadius = 10; duration = 293; # abortOnTimeout = True; initialDepth = 2993.235014; finalDepth = 3068.520053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 121.061307 # Actual altitude: 100 # Commanded vehicle depth: 3068.520053 # Seafloor depth: -3189.581360 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 125 # Segment length 109.972085 meters # Minimum depth: 3068.235014 meters looking forward 50.000000 meters along route # Maximum depth: 3138.481956 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2993.235014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847587; longitude = -125.557146; captureRadius = 10; duration = 219; initialDepth = 2931.324130; finalDepth = 2993.235014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 145.246942 # Actual altitude: 100 # Commanded vehicle depth: 2993.235014 # Seafloor depth: -3138.481956 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 125 # Segment length 109.972071 meters # Minimum depth: 3006.324130 meters looking forward 50.000000 meters along route # Maximum depth: 3065.533672 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2931.324130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847550; longitude = -125.555915; captureRadius = 10; duration = 219; initialDepth = 2900.951667; finalDepth = 2931.324130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 145.246942 # Actual altitude: 100 # Commanded vehicle depth: 2931.32413 # Seafloor depth: -3065.533672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 125 # Segment length 109.972055 meters # Minimum depth: 2975.951667 meters looking forward 50.000000 meters along route # Maximum depth: 3002.017892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2900.951667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847514; longitude = -125.554683; captureRadius = 10; duration = 219; initialDepth = 2901.568880; finalDepth = 2900.951667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.209542 # Actual altitude: 100 # Commanded vehicle depth: 2900.951667 # Seafloor depth: -3002.017892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 125 # Segment length 109.972039 meters # Minimum depth: 2976.568880 meters looking forward 50.000000 meters along route # Maximum depth: 2984.463621 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2901.568880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847477; longitude = -125.553451; captureRadius = 10; duration = 219; initialDepth = 2907.527124; finalDepth = 2901.568880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.066225 # Actual altitude: 100 # Commanded vehicle depth: 2901.56888 # Seafloor depth: -2976.568880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 125 # Segment length 109.972025 meters # Minimum depth: 2982.527124 meters looking forward 50.000000 meters along route # Maximum depth: 2985.479001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2907.527124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847440; longitude = -125.552219; captureRadius = 10; duration = 219; initialDepth = 2911.806558; finalDepth = 2907.527124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3475049999997 # Actual altitude: 76.3475049999997 # Commanded vehicle depth: 2907.527124 # Seafloor depth: -2983.874629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 109.972009 meters # Minimum depth: 2986.806558 meters looking forward 50.000000 meters along route # Maximum depth: 3044.118494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2911.806558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847404; longitude = -125.550987; captureRadius = 10; duration = 219; initialDepth = 2963.087347; finalDepth = 2911.806558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3475049999997 # Actual altitude: 76.3475049999997 # Commanded vehicle depth: 2911.806558 # Seafloor depth: -2986.806558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 109.971994 meters # Minimum depth: 3047.467611 meters looking forward 50.000000 meters along route # Maximum depth: 3062.547586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2963.087347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847367; longitude = -125.549755; captureRadius = 10; duration = 219; initialDepth = 2990.289218; finalDepth = 2963.087347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3802640171143 # Actual altitude: 84.3802640171143 # Commanded vehicle depth: 2963.08734698289 # Seafloor depth: -3047.467611 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 337.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 109.971979 meters # Minimum depth: 3065.289218 meters looking forward 50.000000 meters along route # Maximum depth: 3096.453134 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2990.289218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847330; longitude = -125.548523; captureRadius = 10; duration = 219; initialDepth = 3019.911811; finalDepth = 2990.289218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3802640171143 # Actual altitude: 84.3802640171143 # Commanded vehicle depth: 2990.289218 # Seafloor depth: -3065.289218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 337.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 109.971964 meters # Minimum depth: 3094.911811 meters looking forward 50.000000 meters along route # Maximum depth: 3099.535409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3019.911811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847294; longitude = -125.547291; captureRadius = 10; duration = 219; initialDepth = 3019.118253; finalDepth = 3019.911811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.786638 # Actual altitude: 77.786638 # Commanded vehicle depth: 3019.911811 # Seafloor depth: -3097.698449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.422927 meters # Minimum depth: 3094.118253 meters looking forward 50.000000 meters along route # Maximum depth: 3098.496495 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3019.118253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847257; longitude = -125.546060; captureRadius = 10; duration = 202; initialDepth = 2969.535275; finalDepth = 3019.118253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.786638 # Actual altitude: 77.786638 # Commanded vehicle depth: 3019.118253 # Seafloor depth: -3094.118253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 149.307534 meters # Minimum depth: 3044.535275 meters looking forward 50.000000 meters along route # Maximum depth: 3098.780640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2969.535275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847223; longitude = -125.544923; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 2952.097919; finalDepth = 2969.535275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.245365 # Actual altitude: 100 # Commanded vehicle depth: 2969.535275 # Seafloor depth: -3098.780640 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 124 # Segment length 100.633197 meters # Minimum depth: 3027.097919 meters looking forward 50.000000 meters along route # Maximum depth: 3041.404843 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2952.097919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846020; longitude = -125.544176; captureRadius = 10; duration = 201; initialDepth = 2940.722432; finalDepth = 2952.097919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.245365 # Actual altitude: 100 # Commanded vehicle depth: 2952.097919 # Seafloor depth: -3041.404843 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 124 # Segment length 100.633374 meters # Minimum depth: 3015.722432 meters looking forward 50.000000 meters along route # Maximum depth: 3025.408261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2940.722432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845209; longitude = -125.543672; captureRadius = 10; duration = 201; initialDepth = 2948.881428; finalDepth = 2940.722432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.306924 # Actual altitude: 89.306924 # Commanded vehicle depth: 2940.722432 # Seafloor depth: -3025.408261 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.633551 meters # Minimum depth: 3023.881428 meters looking forward 50.000000 meters along route # Maximum depth: 3036.546228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2948.881428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844398; longitude = -125.543167; captureRadius = 10; duration = 201; initialDepth = 2963.608007; finalDepth = 2948.881428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.685829 # Actual altitude: 84.685829 # Commanded vehicle depth: 2948.881428 # Seafloor depth: -3023.881428 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 338.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 338.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.633728 meters # Minimum depth: 3038.608007 meters looking forward 50.000000 meters along route # Maximum depth: 3069.752673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2963.608007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843587; longitude = -125.542663; captureRadius = 10; duration = 201; initialDepth = 2999.552074; finalDepth = 2963.608007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2963.608007 # Seafloor depth: -3038.608007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.633906 meters # Minimum depth: 3074.552074 meters looking forward 50.000000 meters along route # Maximum depth: 3112.929679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2999.552074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842776; longitude = -125.542159; captureRadius = 10; duration = 201; initialDepth = 3040.521198; finalDepth = 2999.552074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2999.552074 # Seafloor depth: -3074.552074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.634083 meters # Minimum depth: 3115.521198 meters looking forward 50.000000 meters along route # Maximum depth: 3134.673111 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3040.521198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841965; longitude = -125.541655; captureRadius = 10; duration = 201; initialDepth = 3064.999253; finalDepth = 3040.521198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3040.521198 # Seafloor depth: -3115.521198 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.634261 meters # Minimum depth: 3139.999253 meters looking forward 50.000000 meters along route # Maximum depth: 3185.119959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3064.999253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841153; longitude = -125.541151; captureRadius = 10; duration = 201; initialDepth = 3111.381382; finalDepth = 3064.999253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3064.999253 # Seafloor depth: -3139.999253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 103.662403 meters # Minimum depth: 3186.381382 meters looking forward 50.000000 meters along route # Maximum depth: 3192.462589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.381382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840342; longitude = -125.540647; captureRadius = 10; duration = 207; initialDepth = 3117.674561; finalDepth = 3111.381382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3111.381382 # Seafloor depth: -3186.381382 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 128.044212 meters # Minimum depth: 3192.674561 meters looking forward 50.000000 meters along route # Maximum depth: 3198.517301 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3117.674561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839507; longitude = -125.540128; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 3113.218396; finalDepth = 3117.674561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3117.674561 # Seafloor depth: -3192.674561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 105.287013 meters # Minimum depth: 3188.218396 meters looking forward 50.000000 meters along route # Maximum depth: 3204.160186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.218396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838630; longitude = -125.541061; captureRadius = 10; duration = 210; initialDepth = 3055.164327; finalDepth = 3113.218396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.12889 # Actual altitude: 86.12889 # Commanded vehicle depth: 3113.218396 # Seafloor depth: -3199.347286 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 344.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 105.287464 meters # Minimum depth: 3130.164327 meters looking forward 50.000000 meters along route # Maximum depth: 3186.463449 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3055.164327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837909; longitude = -125.541828; captureRadius = 10; duration = 210; initialDepth = 3044.700110; finalDepth = 3055.164327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 131.299122 # Actual altitude: 100 # Commanded vehicle depth: 3055.164327 # Seafloor depth: -3186.463449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 123 # Segment length 106.733694 meters # Minimum depth: 3119.700110 meters looking forward 50.000000 meters along route # Maximum depth: 3129.875881 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3044.700110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837188; longitude = -125.542594; captureRadius = 10; duration = 213; initialDepth = 3054.664926; finalDepth = 3044.700110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 131.299122 # Actual altitude: 100 # Commanded vehicle depth: 3044.70011 # Seafloor depth: -3129.875881 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 123 # Segment length 103.842590 meters # Minimum depth: 3129.664926 meters looking forward 50.000000 meters along route # Maximum depth: 3158.337200 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3054.664926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836458; longitude = -125.543372; captureRadius = 10; duration = 207; initialDepth = 3084.973810; finalDepth = 3054.664926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1757709999997 # Actual altitude: 85.1757709999997 # Commanded vehicle depth: 3054.664926 # Seafloor depth: -3129.664926 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 102.320630 meters # Minimum depth: 3159.973810 meters looking forward 50.000000 meters along route # Maximum depth: 3172.224906 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3084.973810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835746; longitude = -125.544128; captureRadius = 10; duration = 204; initialDepth = 3097.960388; finalDepth = 3084.973810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3084.97381 # Seafloor depth: -3159.973810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 103.197799 meters # Minimum depth: 3172.960388 meters looking forward 50.000000 meters along route # Maximum depth: 3185.378077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3097.960388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835046; longitude = -125.544873; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 3112.778027; finalDepth = 3097.960388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3097.960388 # Seafloor depth: -3172.960388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 101.072020 meters # Minimum depth: 3187.778027 meters looking forward 50.000000 meters along route # Maximum depth: 3201.717356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3112.778027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834395; longitude = -125.545699; captureRadius = 10; duration = 202; initialDepth = 3125.171844; finalDepth = 3112.778027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3112.778027 # Seafloor depth: -3187.778027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 122 # Segment length 104.528406 meters # Minimum depth: 3200.171844 meters looking forward 50.000000 meters along route # Maximum depth: 3203.134276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.171844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833757; longitude = -125.546507; captureRadius = 10; duration = 209; initialDepth = 3124.679199; finalDepth = 3125.171844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.6124220000002 # Actual altitude: 76.6124220000002 # Commanded vehicle depth: 3125.171844 # Seafloor depth: -3201.784266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 117.494978 meters # Minimum depth: 3199.679199 meters looking forward 50.000000 meters along route # Maximum depth: 3209.019199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3124.679199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833097; longitude = -125.547344; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 3111.020732; finalDepth = 3124.679199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6124220000002 # Actual altitude: 76.6124220000002 # Commanded vehicle depth: 3124.679199 # Seafloor depth: -3199.679199 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 101.247584 meters # Minimum depth: 3186.020732 meters looking forward 50.000000 meters along route # Maximum depth: 3208.189291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.020732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832052; longitude = -125.547547; captureRadius = 10; duration = 202; initialDepth = 3072.233129; finalDepth = 3111.020732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.1685590000002 # Actual altitude: 97.1685590000002 # Commanded vehicle depth: 3111.020732 # Seafloor depth: -3208.189291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.15; 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 121 # Segment length 101.247608 meters # Minimum depth: 3147.233129 meters looking forward 50.000000 meters along route # Maximum depth: 3179.346789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.233129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831150; longitude = -125.547723; captureRadius = 10; duration = 202; initialDepth = 3044.158350; finalDepth = 3072.233129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.11366 # Actual altitude: 100 # Commanded vehicle depth: 3072.233129 # Seafloor depth: -3179.346789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 121 # Segment length 102.353744 meters # Minimum depth: 3119.158350 meters looking forward 50.000000 meters along route # Maximum depth: 3146.140766 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3044.158350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830249; longitude = -125.547898; captureRadius = 10; duration = 204; initialDepth = 2996.443537; finalDepth = 3044.158350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.11366 # Actual altitude: 100 # Commanded vehicle depth: 3044.15835 # Seafloor depth: -3146.140766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 121 # Segment length 100.141542 meters # Minimum depth: 3071.443537 meters looking forward 50.000000 meters along route # Maximum depth: 3118.770525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2996.443537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829338; longitude = -125.548075; captureRadius = 10; duration = 200; initialDepth = 2969.741844; finalDepth = 2996.443537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.326988 # Actual altitude: 100 # Commanded vehicle depth: 2996.443537 # Seafloor depth: -3118.770525 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 121 # Segment length 101.247679 meters # Minimum depth: 3044.741844 meters looking forward 50.000000 meters along route # Maximum depth: 3063.280272 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2969.741844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828447; longitude = -125.548249; captureRadius = 10; duration = 202; initialDepth = 2955.807414; finalDepth = 2969.741844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.326988 # Actual altitude: 100 # Commanded vehicle depth: 2969.741844 # Seafloor depth: -3063.280272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 121 # Segment length 101.247703 meters # Minimum depth: 3030.807414 meters looking forward 50.000000 meters along route # Maximum depth: 3043.276773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.807414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827546; longitude = -125.548424; captureRadius = 10; duration = 202; initialDepth = 2955.730447; finalDepth = 2955.807414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.5384279999998 # Actual altitude: 93.5384279999998 # Commanded vehicle depth: 2955.807414 # Seafloor depth: -3043.276773 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.06; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 101.247727 meters # Minimum depth: 3030.730447 meters looking forward 50.000000 meters along route # Maximum depth: 3037.518410 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.730447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826645; longitude = -125.548600; captureRadius = 10; duration = 202; initialDepth = 2961.280456; finalDepth = 2955.730447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4693590000002 # Actual altitude: 87.4693590000002 # Commanded vehicle depth: 2955.730447 # Seafloor depth: -3030.730447 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 349.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 104.022899 meters # Minimum depth: 3036.280456 meters looking forward 50.000000 meters along route # Maximum depth: 3038.329848 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2961.280456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825743; longitude = -125.548775; captureRadius = 10; duration = 208; initialDepth = 2953.566988; finalDepth = 2961.280456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.656133 # Actual altitude: 76.656133 # Commanded vehicle depth: 2961.280456 # Seafloor depth: -3037.936589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.62; 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 120 # Segment length 130.481406 meters # Minimum depth: 3028.566988 meters looking forward 50.000000 meters along route # Maximum depth: 3036.764526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2953.566988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824818; longitude = -125.548955; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 2942.972304; finalDepth = 2953.566988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.1975379999999 # Actual altitude: 83.1975379999999 # Commanded vehicle depth: 2953.566988 # Seafloor depth: -3036.764526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 332.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 332.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 108.403086 meters # Minimum depth: 3017.972304 meters looking forward 50.000000 meters along route # Maximum depth: 3028.427609 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.972304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824386; longitude = -125.550315; captureRadius = 10; duration = 216; initialDepth = 2942.522095; finalDepth = 2942.972304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 85.455305 # Actual altitude: 85.455305 # Commanded vehicle depth: 2942.972304 # Seafloor depth: -3028.427609 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.82; 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 = 341.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 121.628043 meters # Minimum depth: 3017.522095 meters looking forward 50.000000 meters along route # Maximum depth: 3022.532363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.522095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824027; longitude = -125.551445; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 2944.989856; finalDepth = 2942.522095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.455305 # Actual altitude: 85.455305 # Commanded vehicle depth: 2942.522095 # Seafloor depth: -3017.522095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.82; 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 = 341.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 100.941068 meters # Minimum depth: 3019.989856 meters looking forward 50.000000 meters along route # Maximum depth: 3022.874059 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2944.989856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825113; longitude = -125.551262; captureRadius = 10; duration = 201; initialDepth = 2944.192561; finalDepth = 2944.989856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8842030000001 # Actual altitude: 77.8842030000001 # Commanded vehicle depth: 2944.989856 # Seafloor depth: -3022.874059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.941052 meters # Minimum depth: 3019.192561 meters looking forward 50.000000 meters along route # Maximum depth: 3021.851084 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2944.192561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826014; longitude = -125.551111; captureRadius = 10; duration = 201; initialDepth = 2947.397019; finalDepth = 2944.192561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8842030000001 # Actual altitude: 77.8842030000001 # Commanded vehicle depth: 2944.192561 # Seafloor depth: -3019.192561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.941037 meters # Minimum depth: 3022.397019 meters looking forward 50.000000 meters along route # Maximum depth: 3024.339289 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2947.397019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826915; longitude = -125.550959; captureRadius = 10; duration = 201; initialDepth = 2949.977452; finalDepth = 2947.397019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2947.397019 # Seafloor depth: -3022.397019 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.941022 meters # Minimum depth: 3024.977452 meters looking forward 50.000000 meters along route # Maximum depth: 3031.227653 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2949.977452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827816; longitude = -125.550808; captureRadius = 10; duration = 201; initialDepth = 2956.783503; finalDepth = 2949.977452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2949.977452 # Seafloor depth: -3024.977452 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.941006 meters # Minimum depth: 3031.783503 meters looking forward 50.000000 meters along route # Maximum depth: 3041.365945 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2956.783503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828717; longitude = -125.550656; captureRadius = 10; duration = 201; initialDepth = 2968.096224; finalDepth = 2956.783503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2956.783503 # Seafloor depth: -3031.783503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.940991 meters # Minimum depth: 3043.096224 meters looking forward 50.000000 meters along route # Maximum depth: 3074.604663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2968.096224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829619; longitude = -125.550504; captureRadius = 10; duration = 201; initialDepth = 3001.986195; finalDepth = 2968.096224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2968.096224 # Seafloor depth: -3043.096224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.940975 meters # Minimum depth: 3076.986195 meters looking forward 50.000000 meters along route # Maximum depth: 3104.353307 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3001.986195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830520; longitude = -125.550353; captureRadius = 10; duration = 201; initialDepth = 3030.006100; finalDepth = 3001.986195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3001.986195 # Seafloor depth: -3076.986195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.940960 meters # Minimum depth: 3105.006100 meters looking forward 50.000000 meters along route # Maximum depth: 3146.080823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3030.006100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831421; longitude = -125.550201; captureRadius = 10; duration = 201; initialDepth = 3035.738233; finalDepth = 3030.006100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3030.0061 # Seafloor depth: -3105.006100 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 100.940945 meters # Minimum depth: 3110.738233 meters looking forward 50.000000 meters along route # Maximum depth: 3146.409822 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3035.738233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832322; longitude = -125.550050; captureRadius = 10; duration = 201; initialDepth = 3003.943865; finalDepth = 3035.738233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.671589 # Actual altitude: 100 # Commanded vehicle depth: 3035.738233 # Seafloor depth: -3146.409822 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 119 # Segment length 100.940930 meters # Minimum depth: 3078.943865 meters looking forward 50.000000 meters along route # Maximum depth: 3107.221988 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3003.943865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833223; longitude = -125.549898; captureRadius = 10; duration = 201; initialDepth = 3002.196673; finalDepth = 3003.943865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.671589 # Actual altitude: 100 # Commanded vehicle depth: 3003.943865 # Seafloor depth: -3107.221988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 119 # Segment length 100.940914 meters # Minimum depth: 3077.196673 meters looking forward 50.000000 meters along route # Maximum depth: 3089.335118 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3002.196673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834124; longitude = -125.549747; captureRadius = 10; duration = 201; initialDepth = 3000.993103; finalDepth = 3002.196673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.278123 # Actual altitude: 100 # Commanded vehicle depth: 3002.196673 # Seafloor depth: -3077.196673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 119 # Segment length 100.940899 meters # Minimum depth: 3075.993103 meters looking forward 50.000000 meters along route # Maximum depth: 3091.092666 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3000.993103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835026; longitude = -125.549595; captureRadius = 10; duration = 201; initialDepth = 2942.007214; finalDepth = 3000.993103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.0995630000002 # Actual altitude: 90.0995630000002 # Commanded vehicle depth: 3000.993103 # Seafloor depth: -3091.092666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 119 # Segment length 106.669497 meters # Minimum depth: 3017.007214 meters looking forward 50.000000 meters along route # Maximum depth: 3070.366193 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.007214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835927; longitude = -125.549443; captureRadius = 10; duration = 213; initialDepth = 2941.325012; finalDepth = 2942.007214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 128.358979 # Actual altitude: 100 # Commanded vehicle depth: 2942.007214 # Seafloor depth: -3070.366193 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 170.774646 meters # Minimum depth: 3016.325012 meters looking forward 50.000000 meters along route # Maximum depth: 3077.207440 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2941.325012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836879; longitude = -125.549283; captureRadius = 10; duration = 341; # abortOnTimeout = True; initialDepth = 3008.996105; finalDepth = 2941.325012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 128.358979 # Actual altitude: 100 # Commanded vehicle depth: 2941.325012 # Seafloor depth: -3016.325012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 118 # Segment length 101.707970 meters # Minimum depth: 3083.996105 meters looking forward 50.000000 meters along route # Maximum depth: 3113.046072 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3008.996105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838090; longitude = -125.548102; captureRadius = 10; duration = 203; initialDepth = 3033.635761; finalDepth = 3008.996105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3008.996105 # Seafloor depth: -3083.996105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.707577 meters # Minimum depth: 3108.635761 meters looking forward 50.000000 meters along route # Maximum depth: 3114.120201 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3033.635761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838810; longitude = -125.547398; captureRadius = 10; duration = 203; initialDepth = 3010.982400; finalDepth = 3033.635761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.535746 # Actual altitude: 79.535746 # Commanded vehicle depth: 3033.635761 # Seafloor depth: -3113.171507 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.707184 meters # Minimum depth: 3085.982400 meters looking forward 50.000000 meters along route # Maximum depth: 3107.527529 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3010.982400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839531; longitude = -125.546695; captureRadius = 10; duration = 203; initialDepth = 3009.777718; finalDepth = 3010.982400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.5451290000001 # Actual altitude: 96.5451290000001 # Commanded vehicle depth: 3010.9824 # Seafloor depth: -3107.527529 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; 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 118 # Segment length 101.706792 meters # Minimum depth: 3084.777718 meters looking forward 50.000000 meters along route # Maximum depth: 3085.822062 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3009.777718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840252; longitude = -125.545991; captureRadius = 10; duration = 203; initialDepth = 3008.213068; finalDepth = 3009.777718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.5451290000001 # Actual altitude: 96.5451290000001 # Commanded vehicle depth: 3009.777718 # Seafloor depth: -3084.946723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; 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 118 # Segment length 101.706398 meters # Minimum depth: 3083.213068 meters looking forward 50.000000 meters along route # Maximum depth: 3085.845912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3008.213068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840973; longitude = -125.545288; captureRadius = 10; duration = 203; initialDepth = 3000.850632; finalDepth = 3008.213068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6328440000002 # Actual altitude: 77.6328440000002 # Commanded vehicle depth: 3008.213068 # Seafloor depth: -3085.845912 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 310.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.706005 meters # Minimum depth: 3075.850632 meters looking forward 50.000000 meters along route # Maximum depth: 3083.481145 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3000.850632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841694; longitude = -125.544584; captureRadius = 10; duration = 203; initialDepth = 2972.255243; finalDepth = 3000.850632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6305130000001 # Actual altitude: 82.6305130000001 # Commanded vehicle depth: 3000.850632 # Seafloor depth: -3083.481145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.705613 meters # Minimum depth: 3047.255243 meters looking forward 50.000000 meters along route # Maximum depth: 3074.976905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2972.255243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842415; longitude = -125.543880; captureRadius = 10; duration = 203; initialDepth = 2961.152486; finalDepth = 2972.255243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.721662 # Actual altitude: 100 # Commanded vehicle depth: 2972.255243 # Seafloor depth: -3074.976905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 118 # Segment length 101.705220 meters # Minimum depth: 3036.152486 meters looking forward 50.000000 meters along route # Maximum depth: 3042.319152 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2961.152486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843136; longitude = -125.543177; captureRadius = 10; duration = 203; initialDepth = 2962.429900; finalDepth = 2961.152486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.721662 # Actual altitude: 100 # Commanded vehicle depth: 2961.152486 # Seafloor depth: -3042.319152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 118 # Segment length 101.704827 meters # Minimum depth: 3037.429900 meters looking forward 50.000000 meters along route # Maximum depth: 3047.279453 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2962.429900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843857; longitude = -125.542473; captureRadius = 10; duration = 203; initialDepth = 2973.527105; finalDepth = 2962.429900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1666660000001 # Actual altitude: 81.1666660000001 # Commanded vehicle depth: 2962.4299 # Seafloor depth: -3037.429900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.704433 meters # Minimum depth: 3048.527105 meters looking forward 50.000000 meters along route # Maximum depth: 3085.258932 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2973.527105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844578; longitude = -125.541770; captureRadius = 10; duration = 203; initialDepth = 3014.795882; finalDepth = 2973.527105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2973.527105 # Seafloor depth: -3048.527105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.704042 meters # Minimum depth: 3089.795882 meters looking forward 50.000000 meters along route # Maximum depth: 3140.887866 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3014.795882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845299; longitude = -125.541066; captureRadius = 10; duration = 203; initialDepth = 3062.221255; finalDepth = 3014.795882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3014.795882 # Seafloor depth: -3089.795882 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 101.625943 meters # Minimum depth: 3146.624298 meters looking forward 50.000000 meters along route # Maximum depth: 3160.856646 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3062.221255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846020; longitude = -125.540362; captureRadius = 10; duration = 203; initialDepth = 3085.894653; finalDepth = 3062.221255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.4030432716709 # Actual altitude: 84.4030432716709 # Commanded vehicle depth: 3062.22125472833 # Seafloor depth: -3146.624298 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 337.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.61; 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 117 # Segment length 113.051900 meters # Minimum depth: 3160.894653 meters looking forward 50.000000 meters along route # Maximum depth: 3167.341796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.894653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846740; longitude = -125.539659; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 3092.706282; finalDepth = 3085.894653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.4030432716709 # Actual altitude: 84.4030432716709 # Commanded vehicle depth: 3085.894653 # Seafloor depth: -3160.894653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 337.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 105.496498 meters # Minimum depth: 3167.706282 meters looking forward 50.000000 meters along route # Maximum depth: 3169.852599 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.706282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847339; longitude = -125.540684; captureRadius = 10; duration = 210; initialDepth = 3051.734825; finalDepth = 3092.706282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.108232 # Actual altitude: 76.108232 # Commanded vehicle depth: 3092.706282 # Seafloor depth: -3168.814514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.43; 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 = 304.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 87.928289 meters # Minimum depth: 3126.734825 meters looking forward 50.000000 meters along route # Maximum depth: 3170.268005 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3051.734825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847899; longitude = -125.541640; captureRadius = 10; duration = 175; # abortOnTimeout = True; initialDepth = 2983.932363; finalDepth = 3051.734825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 118.53318 # Actual altitude: 100 # Commanded vehicle depth: 3051.734825 # Seafloor depth: -3170.268005 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 101.504878 meters # Minimum depth: 3058.932363 meters looking forward 50.000000 meters along route # Maximum depth: 3126.303590 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2983.932363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847278; longitude = -125.542252; captureRadius = 10; duration = 203; initialDepth = 2963.522399; finalDepth = 2983.932363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 142.371227 # Actual altitude: 100 # Commanded vehicle depth: 2983.932363 # Seafloor depth: -3126.303590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 102.054870 meters # Minimum depth: 3038.522399 meters looking forward 50.000000 meters along route # Maximum depth: 3056.559904 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2963.522399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846561; longitude = -125.542958; captureRadius = 10; duration = 204; initialDepth = 2955.208077; finalDepth = 2963.522399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 142.371227 # Actual altitude: 100 # Commanded vehicle depth: 2963.522399 # Seafloor depth: -3056.559904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 102.314718 meters # Minimum depth: 3030.208077 meters looking forward 50.000000 meters along route # Maximum depth: 3037.387253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.208077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845840; longitude = -125.543668; captureRadius = 10; duration = 204; initialDepth = 2955.777143; finalDepth = 2955.208077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.0375050000002 # Actual altitude: 93.0375050000002 # Commanded vehicle depth: 2955.208077 # Seafloor depth: -3037.387253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 101.796218 meters # Minimum depth: 3030.777143 meters looking forward 50.000000 meters along route # Maximum depth: 3043.804014 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.777143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845117; longitude = -125.544380; captureRadius = 10; duration = 203; initialDepth = 2970.305198; finalDepth = 2955.777143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1791760000001 # Actual altitude: 82.1791760000001 # Commanded vehicle depth: 2955.777143 # Seafloor depth: -3030.777143 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 328.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.056066 meters # Minimum depth: 3045.305198 meters looking forward 50.000000 meters along route # Maximum depth: 3085.003225 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2970.305198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844398; longitude = -125.545088; captureRadius = 10; duration = 204; initialDepth = 3012.031014; finalDepth = 2970.305198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2970.305198 # Seafloor depth: -3045.305198 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.056465 meters # Minimum depth: 3087.031014 meters looking forward 50.000000 meters along route # Maximum depth: 3095.249373 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3012.031014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843677; longitude = -125.545798; captureRadius = 10; duration = 204; initialDepth = 3014.375048; finalDepth = 3012.031014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3012.031014 # Seafloor depth: -3087.031014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.056864 meters # Minimum depth: 3089.375048 meters looking forward 50.000000 meters along route # Maximum depth: 3094.790161 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3014.375048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842956; longitude = -125.546508; captureRadius = 10; duration = 204; initialDepth = 3019.103462; finalDepth = 3014.375048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.415113 # Actual altitude: 80.415113 # Commanded vehicle depth: 3014.375048 # Seafloor depth: -3094.790161 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 321.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.057262 meters # Minimum depth: 3094.103462 meters looking forward 50.000000 meters along route # Maximum depth: 3109.168024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3019.103462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842235; longitude = -125.547218; captureRadius = 10; duration = 204; initialDepth = 3022.772423; finalDepth = 3019.103462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.415113 # Actual altitude: 80.415113 # Commanded vehicle depth: 3019.103462 # Seafloor depth: -3094.103462 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 321.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.057661 meters # Minimum depth: 3097.772423 meters looking forward 50.000000 meters along route # Maximum depth: 3108.902990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3022.772423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841514; longitude = -125.547928; captureRadius = 10; duration = 204; initialDepth = 2985.747649; finalDepth = 3022.772423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1305670000002 # Actual altitude: 86.1305670000002 # Commanded vehicle depth: 3022.772423 # Seafloor depth: -3108.902990 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 344.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 102.058060 meters # Minimum depth: 3060.747649 meters looking forward 50.000000 meters along route # Maximum depth: 3097.718944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2985.747649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840793; longitude = -125.548638; captureRadius = 10; duration = 204; initialDepth = 2932.104549; finalDepth = 2985.747649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.971295 # Actual altitude: 100 # Commanded vehicle depth: 2985.747649 # Seafloor depth: -3097.718944 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 102.058459 meters # Minimum depth: 3007.104549 meters looking forward 50.000000 meters along route # Maximum depth: 3057.689935 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2932.104549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840072; longitude = -125.549347; captureRadius = 10; duration = 204; initialDepth = 2877.632058; finalDepth = 2932.104549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.585386 # Actual altitude: 100 # Commanded vehicle depth: 2932.104549 # Seafloor depth: -3057.689935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 102.058857 meters # Minimum depth: 2952.632058 meters looking forward 50.000000 meters along route # Maximum depth: 3001.679989 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2877.632058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839351; longitude = -125.550057; captureRadius = 10; duration = 204; initialDepth = 2858.389919; finalDepth = 2877.632058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.585386 # Actual altitude: 100 # Commanded vehicle depth: 2877.632058 # Seafloor depth: -3001.679989 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 116 # Segment length 105.036281 meters # Minimum depth: 2933.389919 meters looking forward 50.000000 meters along route # Maximum depth: 2952.424552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2858.389919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838630; longitude = -125.550767; captureRadius = 10; duration = 210; initialDepth = 2858.675415; finalDepth = 2858.389919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 124.047931 # Actual altitude: 100 # Commanded vehicle depth: 2858.389919 # Seafloor depth: -2952.424552 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 148.701360 meters # Minimum depth: 2933.675415 meters looking forward 50.000000 meters along route # Maximum depth: 2980.566328 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2858.675415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837888; longitude = -125.551498; captureRadius = 10; duration = 297; # abortOnTimeout = True; initialDepth = 2909.482267; finalDepth = 2858.675415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.0346329999998 # Actual altitude: 94.0346329999998 # Commanded vehicle depth: 2858.675415 # Seafloor depth: -2933.675415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 100.700860 meters # Minimum depth: 2984.482267 meters looking forward 50.000000 meters along route # Maximum depth: 3010.541800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2909.482267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836558; longitude = -125.551690; captureRadius = 10; duration = 201; initialDepth = 2932.256973; finalDepth = 2909.482267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2909.482267 # Seafloor depth: -2984.482267 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700870 meters # Minimum depth: 3007.256973 meters looking forward 50.000000 meters along route # Maximum depth: 3011.870112 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2932.256973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835656; longitude = -125.551820; captureRadius = 10; duration = 201; initialDepth = 2940.907808; finalDepth = 2932.256973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5490439999999 # Actual altitude: 79.5490439999999 # Commanded vehicle depth: 2932.256973 # Seafloor depth: -3011.806017 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700878 meters # Minimum depth: 3015.907808 meters looking forward 50.000000 meters along route # Maximum depth: 3056.591469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2940.907808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834755; longitude = -125.551950; captureRadius = 10; duration = 201; initialDepth = 2985.670266; finalDepth = 2940.907808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5490439999999 # Actual altitude: 79.5490439999999 # Commanded vehicle depth: 2940.907808 # Seafloor depth: -3015.907808 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700887 meters # Minimum depth: 3060.670266 meters looking forward 50.000000 meters along route # Maximum depth: 3090.752559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2985.670266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833854; longitude = -125.552080; captureRadius = 10; duration = 201; initialDepth = 3016.393864; finalDepth = 2985.670266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2985.670266 # Seafloor depth: -3060.670266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700895 meters # Minimum depth: 3091.393864 meters looking forward 50.000000 meters along route # Maximum depth: 3096.954758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3016.393864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832953; longitude = -125.552210; captureRadius = 10; duration = 201; initialDepth = 2995.326560; finalDepth = 3016.393864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3016.393864 # Seafloor depth: -3091.393864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700904 meters # Minimum depth: 3070.326560 meters looking forward 50.000000 meters along route # Maximum depth: 3096.920936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2995.326560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832052; longitude = -125.552340; captureRadius = 10; duration = 201; initialDepth = 2973.541301; finalDepth = 2995.326560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.594376 # Actual altitude: 100 # Commanded vehicle depth: 2995.32656 # Seafloor depth: -3096.920936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 115 # Segment length 100.700913 meters # Minimum depth: 3048.541301 meters looking forward 50.000000 meters along route # Maximum depth: 3067.907111 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2973.541301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831150; longitude = -125.552470; captureRadius = 10; duration = 201; initialDepth = 2956.171604; finalDepth = 2973.541301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.594376 # Actual altitude: 100 # Commanded vehicle depth: 2973.541301 # Seafloor depth: -3067.907111 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 115 # Segment length 100.700921 meters # Minimum depth: 3031.171604 meters looking forward 50.000000 meters along route # Maximum depth: 3045.997577 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2956.171604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830249; longitude = -125.552600; captureRadius = 10; duration = 201; initialDepth = 2949.281055; finalDepth = 2956.171604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.3658099999998 # Actual altitude: 94.3658099999998 # Commanded vehicle depth: 2956.171604 # Seafloor depth: -3045.997577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700930 meters # Minimum depth: 3024.281055 meters looking forward 50.000000 meters along route # Maximum depth: 3029.734706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2949.281055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829348; longitude = -125.552730; captureRadius = 10; duration = 201; initialDepth = 2945.346603; finalDepth = 2949.281055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.825973 # Actual altitude: 89.825973 # Commanded vehicle depth: 2949.281055 # Seafloor depth: -3029.734706 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.95; 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 115 # Segment length 100.700938 meters # Minimum depth: 3020.346603 meters looking forward 50.000000 meters along route # Maximum depth: 3024.116404 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2945.346603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828447; longitude = -125.552860; captureRadius = 10; duration = 201; initialDepth = 2942.071301; finalDepth = 2945.346603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4536510000003 # Actual altitude: 80.4536510000003 # Commanded vehicle depth: 2945.346603 # Seafloor depth: -3024.116404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 321.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700948 meters # Minimum depth: 3017.071301 meters looking forward 50.000000 meters along route # Maximum depth: 3019.613244 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.071301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827546; longitude = -125.552990; captureRadius = 10; duration = 201; initialDepth = 2941.246018; finalDepth = 2942.071301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7698009999999 # Actual altitude: 78.7698009999999 # Commanded vehicle depth: 2942.071301 # Seafloor depth: -3019.613244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700955 meters # Minimum depth: 3016.246018 meters looking forward 50.000000 meters along route # Maximum depth: 3017.061262 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2941.246018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826645; longitude = -125.553120; captureRadius = 10; duration = 201; initialDepth = 2942.533060; finalDepth = 2941.246018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5419430000002 # Actual altitude: 77.5419430000002 # Commanded vehicle depth: 2941.246018 # Seafloor depth: -3017.009414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.17; 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 = 310.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.700965 meters # Minimum depth: 3017.533060 meters looking forward 50.000000 meters along route # Maximum depth: 3019.474146 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.533060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825743; longitude = -125.553250; captureRadius = 10; duration = 201; initialDepth = 2943.005829; finalDepth = 2942.533060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7633960000003 # Actual altitude: 75.7633960000003 # Commanded vehicle depth: 2942.53306 # Seafloor depth: -3017.533060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 303.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 103.648789 meters # Minimum depth: 3018.005829 meters looking forward 50.000000 meters along route # Maximum depth: 3018.445679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2943.005829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824842; longitude = -125.553380; captureRadius = 10; duration = 207; initialDepth = 2943.549561; finalDepth = 2943.005829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2943.005829 # Seafloor depth: -3018.005829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 130.884038 meters # Minimum depth: 3018.549561 meters looking forward 50.000000 meters along route # Maximum depth: 3021.744235 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2943.549561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823915; longitude = -125.553513; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 2942.842019; finalDepth = 2943.549561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2943.549561 # Seafloor depth: -3018.549561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 148.843122 meters # Minimum depth: 3017.842019 meters looking forward 50.000000 meters along route # Maximum depth: 3022.116638 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.842019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824362; longitude = -125.554871; captureRadius = 10; duration = 297; # abortOnTimeout = True; initialDepth = 2939.977844; finalDepth = 2942.842019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2746189999998 # Actual altitude: 79.2746189999998 # Commanded vehicle depth: 2942.842019 # Seafloor depth: -3022.116638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.286893 meters # Minimum depth: 3014.977844 meters looking forward 50.000000 meters along route # Maximum depth: 3017.611771 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2939.977844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825653; longitude = -125.555318; captureRadius = 10; duration = 208; initialDepth = 2939.754761; finalDepth = 2939.977844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.2746189999998 # Actual altitude: 79.2746189999998 # Commanded vehicle depth: 2939.977844 # Seafloor depth: -3017.611771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 171.358432 meters # Minimum depth: 3014.754761 meters looking forward 50.000000 meters along route # Maximum depth: 3017.576808 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2939.754761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826558; longitude = -125.555632; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 2942.629785; finalDepth = 2939.754761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6339269999999 # Actual altitude: 77.6339269999999 # Commanded vehicle depth: 2939.754761 # Seafloor depth: -3014.754761 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 310.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 101.054436 meters # Minimum depth: 3017.629785 meters looking forward 50.000000 meters along route # Maximum depth: 3025.739453 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2942.629785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828087; longitude = -125.555359; captureRadius = 10; duration = 202; initialDepth = 2952.511765; finalDepth = 2942.629785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2942.629785 # Seafloor depth: -3017.629785 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054418 meters # Minimum depth: 3027.511765 meters looking forward 50.000000 meters along route # Maximum depth: 3054.814770 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2952.511765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828988; longitude = -125.555199; captureRadius = 10; duration = 202; initialDepth = 2974.929212; finalDepth = 2952.511765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2952.511765 # Seafloor depth: -3027.511765 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054399 meters # Minimum depth: 3049.929212 meters looking forward 50.000000 meters along route # Maximum depth: 3057.119675 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2974.929212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829889; longitude = -125.555038; captureRadius = 10; duration = 202; initialDepth = 2975.361835; finalDepth = 2974.929212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1904629999999 # Actual altitude: 82.1904629999999 # Commanded vehicle depth: 2974.929212 # Seafloor depth: -3057.119675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054381 meters # Minimum depth: 3050.361835 meters looking forward 50.000000 meters along route # Maximum depth: 3056.258183 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2975.361835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830790; longitude = -125.554877; captureRadius = 10; duration = 202; initialDepth = 2984.277813; finalDepth = 2975.361835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1904629999999 # Actual altitude: 82.1904629999999 # Commanded vehicle depth: 2975.361835 # Seafloor depth: -3050.361835 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054362 meters # Minimum depth: 3059.277813 meters looking forward 50.000000 meters along route # Maximum depth: 3109.860168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2984.277813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831691; longitude = -125.554716; captureRadius = 10; duration = 202; initialDepth = 3027.589822; finalDepth = 2984.277813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2984.277813 # Seafloor depth: -3059.277813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054344 meters # Minimum depth: 3102.589822 meters looking forward 50.000000 meters along route # Maximum depth: 3109.845306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3027.589822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832592; longitude = -125.554555; captureRadius = 10; duration = 202; initialDepth = 2998.501898; finalDepth = 3027.589822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2554840000003 # Actual altitude: 82.2554840000003 # Commanded vehicle depth: 3027.589822 # Seafloor depth: -3109.845306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 329.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054325 meters # Minimum depth: 3073.501898 meters looking forward 50.000000 meters along route # Maximum depth: 3101.888159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2998.501898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833494; longitude = -125.554395; captureRadius = 10; duration = 202; initialDepth = 2977.197992; finalDepth = 2998.501898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.386261 # Actual altitude: 100 # Commanded vehicle depth: 2998.501898 # Seafloor depth: -3101.888159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 112 # Segment length 101.054307 meters # Minimum depth: 3052.197992 meters looking forward 50.000000 meters along route # Maximum depth: 3073.299570 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2977.197992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834395; longitude = -125.554234; captureRadius = 10; duration = 202; initialDepth = 2968.850097; finalDepth = 2977.197992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.386261 # Actual altitude: 100 # Commanded vehicle depth: 2977.197992 # Seafloor depth: -3073.299570 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 112 # Segment length 101.054288 meters # Minimum depth: 3043.850097 meters looking forward 50.000000 meters along route # Maximum depth: 3049.975891 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2968.850097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835296; longitude = -125.554073; captureRadius = 10; duration = 202; initialDepth = 2968.512307; finalDepth = 2968.850097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.1015780000002 # Actual altitude: 96.1015780000002 # Commanded vehicle depth: 2968.850097 # Seafloor depth: -3049.975891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.83; 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 112 # Segment length 101.054270 meters # Minimum depth: 3043.512307 meters looking forward 50.000000 meters along route # Maximum depth: 3048.779420 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2968.512307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836197; longitude = -125.553912; captureRadius = 10; duration = 202; initialDepth = 2953.738642; finalDepth = 2968.512307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.125794 # Actual altitude: 81.125794 # Commanded vehicle depth: 2968.512307 # Seafloor depth: -3043.512307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 324.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 101.054251 meters # Minimum depth: 3028.738642 meters looking forward 50.000000 meters along route # Maximum depth: 3048.073007 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2953.738642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837098; longitude = -125.553752; captureRadius = 10; duration = 202; initialDepth = 2945.556921; finalDepth = 2953.738642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.3343650000002 # Actual altitude: 94.3343650000002 # Commanded vehicle depth: 2953.738642 # Seafloor depth: -3048.073007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 109.497000 meters # Minimum depth: 3020.556921 meters looking forward 50.000000 meters along route # Maximum depth: 3030.593932 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2945.556921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837999; longitude = -125.553591; captureRadius = 10; duration = 218; initialDepth = 2955.225414; finalDepth = 2945.556921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 94.3343650000002 # Actual altitude: 94.3343650000002 # Commanded vehicle depth: 2945.556921 # Seafloor depth: -3025.981191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 135.912532 meters # Minimum depth: 3030.225414 meters looking forward 50.000000 meters along route # Maximum depth: 3031.209200 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.225414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838976; longitude = -125.553417; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 2955.198364; finalDepth = 2955.225414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.42427 # Actual altitude: 80.42427 # Commanded vehicle depth: 2955.225414 # Seafloor depth: -3030.684570 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 321.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 100.354476 meters # Minimum depth: 3030.198364 meters looking forward 50.000000 meters along route # Maximum depth: 3037.756526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.198364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839918; longitude = -125.552443; captureRadius = 10; duration = 200; initialDepth = 2961.247841; finalDepth = 2955.198364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4591559999999 # Actual altitude: 75.4591559999999 # Commanded vehicle depth: 2955.198364 # Seafloor depth: -3030.198364 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.055714 meters # Minimum depth: 3036.247841 meters looking forward 50.000000 meters along route # Maximum depth: 3040.710205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2961.247841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840613; longitude = -125.551724; captureRadius = 10; duration = 208; initialDepth = 2955.813199; finalDepth = 2961.247841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4997390000003 # Actual altitude: 77.4997390000003 # Commanded vehicle depth: 2961.247841 # Seafloor depth: -3038.747580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.00; 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 = 310.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.055283 meters # Minimum depth: 3030.813199 meters looking forward 50.000000 meters along route # Maximum depth: 3036.188651 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.813199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841334; longitude = -125.550978; captureRadius = 10; duration = 208; initialDepth = 2956.182592; finalDepth = 2955.813199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3754519999998 # Actual altitude: 80.3754519999998 # Commanded vehicle depth: 2955.813199 # Seafloor depth: -3036.188651 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.054851 meters # Minimum depth: 3031.182592 meters looking forward 50.000000 meters along route # Maximum depth: 3040.716522 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2956.182592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842055; longitude = -125.550233; captureRadius = 10; duration = 208; initialDepth = 2966.335646; finalDepth = 2956.182592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3754519999998 # Actual altitude: 80.3754519999998 # Commanded vehicle depth: 2956.182592 # Seafloor depth: -3031.182592 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.054420 meters # Minimum depth: 3041.335646 meters looking forward 50.000000 meters along route # Maximum depth: 3058.116432 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2966.335646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842776; longitude = -125.549488; captureRadius = 10; duration = 208; initialDepth = 2983.192974; finalDepth = 2966.335646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2966.335646 # Seafloor depth: -3041.335646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.053988 meters # Minimum depth: 3058.192974 meters looking forward 50.000000 meters along route # Maximum depth: 3064.135343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2983.192974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843497; longitude = -125.548742; captureRadius = 10; duration = 208; initialDepth = 2989.739050; finalDepth = 2983.192974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2983.192974 # Seafloor depth: -3058.192974 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.053556 meters # Minimum depth: 3064.739050 meters looking forward 50.000000 meters along route # Maximum depth: 3075.715548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2989.739050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844217; longitude = -125.547997; captureRadius = 10; duration = 208; initialDepth = 2995.366821; finalDepth = 2989.739050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2989.73905 # Seafloor depth: -3064.739050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.053125 meters # Minimum depth: 3070.366821 meters looking forward 50.000000 meters along route # Maximum depth: 3075.293569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2995.366821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.547251; captureRadius = 10; duration = 208; initialDepth = 2995.360657; finalDepth = 2995.366821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9267479999999 # Actual altitude: 79.9267479999999 # Commanded vehicle depth: 2995.366821 # Seafloor depth: -3075.293569 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 319.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.052693 meters # Minimum depth: 3070.360657 meters looking forward 50.000000 meters along route # Maximum depth: 3073.266966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2995.360657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845659; longitude = -125.546506; captureRadius = 10; duration = 208; initialDepth = 2999.639449; finalDepth = 2995.360657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9267479999999 # Actual altitude: 79.9267479999999 # Commanded vehicle depth: 2995.360657 # Seafloor depth: -3070.360657 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 319.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.052262 meters # Minimum depth: 3074.639449 meters looking forward 50.000000 meters along route # Maximum depth: 3093.972883 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2999.639449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846380; longitude = -125.545760; captureRadius = 10; duration = 208; initialDepth = 3019.824187; finalDepth = 2999.639449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2999.639449 # Seafloor depth: -3074.639449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 104.251565 meters # Minimum depth: 3094.824187 meters looking forward 50.000000 meters along route # Maximum depth: 3122.970451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3019.824187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847101; longitude = -125.545015; captureRadius = 10; duration = 208; initialDepth = 3048.026642; finalDepth = 3019.824187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3019.824187 # Seafloor depth: -3094.824187 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 109.142247 meters # Minimum depth: 3123.026642 meters looking forward 50.000000 meters along route # Maximum depth: 3156.986766 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3048.026642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847824; longitude = -125.544268; captureRadius = 10; duration = 218; initialDepth = 3082.141724; finalDepth = 3048.026642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3048.026642 # Seafloor depth: -3123.026642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 111.470076 meters # Minimum depth: 3157.141724 meters looking forward 50.000000 meters along route # Maximum depth: 3170.608877 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.141724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848580; longitude = -125.543486; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 3085.199397; finalDepth = 3082.141724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3082.141724 # Seafloor depth: -3157.141724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 108.529100 meters # Minimum depth: 3160.199397 meters looking forward 50.000000 meters along route # Maximum depth: 3170.655463 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.199397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848002; longitude = -125.542463; captureRadius = 10; duration = 217; initialDepth = 3080.056051; finalDepth = 3085.199397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4560660000002 # Actual altitude: 85.4560660000002 # Commanded vehicle depth: 3085.199397 # Seafloor depth: -3170.655463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.82; 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 = 341.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.257858 meters # Minimum depth: 3155.056051 meters looking forward 50.000000 meters along route # Maximum depth: 3161.354437 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.056051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847440; longitude = -125.541468; captureRadius = 10; duration = 200; initialDepth = 3079.929477; finalDepth = 3080.056051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4560660000002 # Actual altitude: 85.4560660000002 # Commanded vehicle depth: 3080.056051 # Seafloor depth: -3161.005804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.82; 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 = 341.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 107.318197 meters # Minimum depth: 3154.929477 meters looking forward 50.000000 meters along route # Maximum depth: 3161.357251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.929477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846921; longitude = -125.540548; captureRadius = 10; duration = 214; initialDepth = 3082.590821; finalDepth = 3079.929477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9497529999999 # Actual altitude: 80.9497529999999 # Commanded vehicle depth: 3079.929477 # Seafloor depth: -3154.929477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.80; 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 = 323.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 101.470521 meters # Minimum depth: 3157.590821 meters looking forward 50.000000 meters along route # Maximum depth: 3161.442796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.590821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846365; longitude = -125.539564; captureRadius = 10; duration = 202; initialDepth = 3082.828489; finalDepth = 3082.590821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.851975 # Actual altitude: 78.851975 # Commanded vehicle depth: 3082.590821 # Seafloor depth: -3161.442796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 315.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 105.456046 meters # Minimum depth: 3157.828489 meters looking forward 50.000000 meters along route # Maximum depth: 3163.846406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.828489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845840; longitude = -125.538634; captureRadius = 10; duration = 210; initialDepth = 3088.769470; finalDepth = 3082.828489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 78.851975 # Actual altitude: 78.851975 # Commanded vehicle depth: 3082.828489 # Seafloor depth: -3157.828489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 315.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 114.316044 meters # Minimum depth: 3163.769470 meters looking forward 50.000000 meters along route # Maximum depth: 3166.228010 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.769470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845293; longitude = -125.537666; captureRadius = 10; duration = 228; # abortOnTimeout = True; initialDepth = 3091.418267; finalDepth = 3088.769470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3088.76947 # Seafloor depth: -3163.769470 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 102.307892 meters # Minimum depth: 3166.418267 meters looking forward 50.000000 meters along route # Maximum depth: 3170.202786 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3091.418267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844488; longitude = -125.538465; captureRadius = 10; duration = 204; initialDepth = 3084.576345; finalDepth = 3091.418267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3091.418267 # Seafloor depth: -3166.418267 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 103.238302 meters # Minimum depth: 3159.576345 meters looking forward 50.000000 meters along route # Maximum depth: 3169.758596 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3084.576345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843767; longitude = -125.539179; captureRadius = 10; duration = 206; initialDepth = 3069.781856; finalDepth = 3084.576345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1822510000002 # Actual altitude: 85.1822510000002 # Commanded vehicle depth: 3084.576345 # Seafloor depth: -3169.758596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 101.378691 meters # Minimum depth: 3144.781856 meters looking forward 50.000000 meters along route # Maximum depth: 3159.546029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3069.781856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843039; longitude = -125.539900; captureRadius = 10; duration = 202; initialDepth = 3054.694098; finalDepth = 3069.781856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.764173 # Actual altitude: 89.764173 # Commanded vehicle depth: 3069.781856 # Seafloor depth: -3159.546029 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; 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 109 # Segment length 102.309101 meters # Minimum depth: 3129.694098 meters looking forward 50.000000 meters along route # Maximum depth: 3143.723823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3054.694098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842325; longitude = -125.540608; captureRadius = 10; duration = 204; initialDepth = 3052.710101; finalDepth = 3054.694098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.764173 # Actual altitude: 89.764173 # Commanded vehicle depth: 3054.694098 # Seafloor depth: -3143.723823 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; 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 109 # Segment length 102.309503 meters # Minimum depth: 3127.710101 meters looking forward 50.000000 meters along route # Maximum depth: 3134.609040 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3052.710101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841604; longitude = -125.541323; captureRadius = 10; duration = 204; initialDepth = 3059.755593; finalDepth = 3052.710101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.0297249999999 # Actual altitude: 89.0297249999999 # Commanded vehicle depth: 3052.710101 # Seafloor depth: -3127.710101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.71; 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 109 # Segment length 102.309907 meters # Minimum depth: 3134.755593 meters looking forward 50.000000 meters along route # Maximum depth: 3150.639529 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3059.755593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840883; longitude = -125.542037; captureRadius = 10; duration = 204; initialDepth = 3076.740521; finalDepth = 3059.755593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3059.755593 # Seafloor depth: -3134.755593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 102.310309 meters # Minimum depth: 3151.740521 meters looking forward 50.000000 meters along route # Maximum depth: 3178.057994 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3076.740521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840162; longitude = -125.542752; captureRadius = 10; duration = 204; initialDepth = 3103.185584; finalDepth = 3076.740521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3076.740521 # Seafloor depth: -3151.740521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 102.310712 meters # Minimum depth: 3178.185584 meters looking forward 50.000000 meters along route # Maximum depth: 3190.012589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.185584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839441; longitude = -125.543466; captureRadius = 10; duration = 204; initialDepth = 3072.755564; finalDepth = 3103.185584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9404490000002 # Actual altitude: 79.9404490000002 # Commanded vehicle depth: 3103.185584 # Seafloor depth: -3183.126033 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 319.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 102.311115 meters # Minimum depth: 3147.755564 meters looking forward 50.000000 meters along route # Maximum depth: 3176.581454 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.755564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838720; longitude = -125.544181; captureRadius = 10; duration = 204; initialDepth = 3066.236272; finalDepth = 3072.755564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.82589 # Actual altitude: 100 # Commanded vehicle depth: 3072.755564 # Seafloor depth: -3176.581454 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 109 # Segment length 102.608158 meters # Minimum depth: 3141.236272 meters looking forward 50.000000 meters along route # Maximum depth: 3147.007459 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3066.236272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837999; longitude = -125.544895; captureRadius = 10; duration = 205; initialDepth = 3056.071356; finalDepth = 3066.236272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.82589 # Actual altitude: 100 # Commanded vehicle depth: 3066.236272 # Seafloor depth: -3147.007459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 109 # Segment length 102.015280 meters # Minimum depth: 3131.071356 meters looking forward 50.000000 meters along route # Maximum depth: 3141.193030 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3056.071356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837276; longitude = -125.545612; captureRadius = 10; duration = 204; initialDepth = 3045.311087; finalDepth = 3056.071356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.121674 # Actual altitude: 85.121674 # Commanded vehicle depth: 3056.071356 # Seafloor depth: -3141.193030 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; 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 = 25.54; 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 109 # Segment length 100.015828 meters # Minimum depth: 3120.311087 meters looking forward 50.000000 meters along route # Maximum depth: 3130.465352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3045.311087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836558; longitude = -125.546324; captureRadius = 10; duration = 200; initialDepth = 3044.897400; finalDepth = 3045.311087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 85.1542650000001 # Actual altitude: 85.1542650000001 # Commanded vehicle depth: 3045.311087 # Seafloor depth: -3130.465352 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 143.172332 meters # Minimum depth: 3119.897400 meters looking forward 50.000000 meters along route # Maximum depth: 3132.748715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3044.897400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835853; longitude = -125.547022; captureRadius = 10; duration = 286; # abortOnTimeout = True; initialDepth = 3061.092818; finalDepth = 3044.897400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1542650000001 # Actual altitude: 85.1542650000001 # Commanded vehicle depth: 3044.8974 # Seafloor depth: -3119.897400 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.970896 meters # Minimum depth: 3136.092818 meters looking forward 50.000000 meters along route # Maximum depth: 3166.781876 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3061.092818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834575; longitude = -125.547241; captureRadius = 10; duration = 201; initialDepth = 3095.580121; finalDepth = 3061.092818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3061.092818 # Seafloor depth: -3136.092818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 100.970912 meters # Minimum depth: 3170.580121 meters looking forward 50.000000 meters along route # Maximum depth: 3199.789545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.580121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833674; longitude = -125.547395; captureRadius = 10; duration = 201; initialDepth = 3126.719631; finalDepth = 3095.580121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3095.580121 # Seafloor depth: -3170.580121 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 107.845398 meters # Minimum depth: 3201.719631 meters looking forward 50.000000 meters along route # Maximum depth: 3206.863353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3126.719631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832773; longitude = -125.547549; captureRadius = 10; duration = 215; initialDepth = 3106.815329; finalDepth = 3126.719631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3126.719631 # Seafloor depth: -3201.719631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 138.190408 meters # Minimum depth: 3181.815329 meters looking forward 50.000000 meters along route # Maximum depth: 3207.012939 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.815329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831810; longitude = -125.547714; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 3103.600540; finalDepth = 3106.815329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.19761 # Actual altitude: 100 # Commanded vehicle depth: 3106.815329 # Seafloor depth: -3207.012939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 107 # Segment length 109.877195 meters # Minimum depth: 3178.600540 meters looking forward 50.000000 meters along route # Maximum depth: 3181.744388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.600540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830790; longitude = -125.546826; captureRadius = 10; duration = 219; initialDepth = 3104.703236; finalDepth = 3103.600540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.19761 # Actual altitude: 100 # Commanded vehicle depth: 3103.60054 # Seafloor depth: -3181.744388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 107 # Segment length 104.851847 meters # Minimum depth: 3179.703236 meters looking forward 50.000000 meters along route # Maximum depth: 3212.406198 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.703236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829979; longitude = -125.546120; captureRadius = 10; duration = 209; initialDepth = 3138.168274; finalDepth = 3104.703236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.1438480000002 # Actual altitude: 78.1438480000002 # Commanded vehicle depth: 3104.703236 # Seafloor depth: -3179.703236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 165.593284 meters # Minimum depth: 3213.168274 meters looking forward 50.000000 meters along route # Maximum depth: 3219.806412 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3138.168274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829205; longitude = -125.545446; captureRadius = 10; duration = 331; # abortOnTimeout = True; initialDepth = 3107.711998; finalDepth = 3138.168274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8142089999997 # Actual altitude: 77.8142089999997 # Commanded vehicle depth: 3138.168274 # Seafloor depth: -3215.982483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.26; 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 = 311.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.899859 meters # Minimum depth: 3182.711998 meters looking forward 50.000000 meters along route # Maximum depth: 3209.513160 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.711998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827726; longitude = -125.545689; captureRadius = 10; duration = 201; initialDepth = 3107.772217; finalDepth = 3107.711998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.801162 # Actual altitude: 100 # Commanded vehicle depth: 3107.711998 # Seafloor depth: -3209.513160 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 106 # Segment length 100.899873 meters # Minimum depth: 3182.772217 meters looking forward 50.000000 meters along route # Maximum depth: 3189.369953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.772217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826825; longitude = -125.545837; captureRadius = 10; duration = 201; initialDepth = 3115.343625; finalDepth = 3107.772217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.801162 # Actual altitude: 100 # Commanded vehicle depth: 3107.772217 # Seafloor depth: -3182.772217 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 106 # Segment length 100.899887 meters # Minimum depth: 3190.343625 meters looking forward 50.000000 meters along route # Maximum depth: 3192.991305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.343625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825924; longitude = -125.545985; captureRadius = 10; duration = 201; initialDepth = 3118.374040; finalDepth = 3115.343625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3115.343625 # Seafloor depth: -3190.343625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.899901 meters # Minimum depth: 3193.374040 meters looking forward 50.000000 meters along route # Maximum depth: 3212.409205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.374040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825023; longitude = -125.546134; captureRadius = 10; duration = 201; initialDepth = 3139.033940; finalDepth = 3118.374040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3118.37404 # Seafloor depth: -3193.374040 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.899916 meters # Minimum depth: 3214.033940 meters looking forward 50.000000 meters along route # Maximum depth: 3218.170775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3139.033940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824121; longitude = -125.546282; captureRadius = 10; duration = 201; initialDepth = 3128.008495; finalDepth = 3139.033940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3139.03394 # Seafloor depth: -3214.033940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 107.278067 meters # Minimum depth: 3203.008495 meters looking forward 50.000000 meters along route # Maximum depth: 3218.089881 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3128.008495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823220; longitude = -125.546430; captureRadius = 10; duration = 214; initialDepth = 3099.512155; finalDepth = 3128.008495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.0813859999998 # Actual altitude: 90.0813859999998 # Commanded vehicle depth: 3128.008495 # Seafloor depth: -3218.089881 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; 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 105 # Segment length 108.328478 meters # Minimum depth: 3174.512155 meters looking forward 50.000000 meters along route # Maximum depth: 3203.992798 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.512155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822262; longitude = -125.546587; captureRadius = 10; duration = 216; # abortOnTimeout = True; initialDepth = 3100.589932; finalDepth = 3099.512155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.480643 # Actual altitude: 100 # Commanded vehicle depth: 3099.512155 # Seafloor depth: -3203.992798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 105 # Segment length 105.298473 meters # Minimum depth: 3175.589932 meters looking forward 50.000000 meters along route # Maximum depth: 3179.650098 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3100.589932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821955; longitude = -125.547739; captureRadius = 10; duration = 210; initialDepth = 3087.029544; finalDepth = 3100.589932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.480643 # Actual altitude: 100 # Commanded vehicle depth: 3100.589932 # Seafloor depth: -3175.589932 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 105 # Segment length 108.717134 meters # Minimum depth: 3162.029544 meters looking forward 50.000000 meters along route # Maximum depth: 3174.001708 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.029544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821656; longitude = -125.548859; captureRadius = 10; duration = 217; initialDepth = 3094.204956; finalDepth = 3087.029544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.9721639999998 # Actual altitude: 86.9721639999998 # Commanded vehicle depth: 3087.029544 # Seafloor depth: -3174.001708 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 347.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 347.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 86.732648 meters # Minimum depth: 3169.204956 meters looking forward 50.000000 meters along route # Maximum depth: 3180.498132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3094.204956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821347; longitude = -125.550016; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 3104.515791; finalDepth = 3094.204956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.9721639999998 # Actual altitude: 86.9721639999998 # Commanded vehicle depth: 3094.204956 # Seafloor depth: -3169.204956 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 347.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 347.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 109.973291 meters # Minimum depth: 3179.515791 meters looking forward 50.000000 meters along route # Maximum depth: 3180.557140 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.515791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821327; longitude = -125.550987; captureRadius = 10; duration = 219; initialDepth = 3105.682239; finalDepth = 3104.515791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.716492 # Actual altitude: 75.716492 # Commanded vehicle depth: 3104.515791 # Seafloor depth: -3180.232283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 109.973396 meters # Minimum depth: 3180.682239 meters looking forward 50.000000 meters along route # Maximum depth: 3182.583495 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.682239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821300; longitude = -125.552219; captureRadius = 10; duration = 219; initialDepth = 3107.681408; finalDepth = 3105.682239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.716492 # Actual altitude: 75.716492 # Commanded vehicle depth: 3105.682239 # Seafloor depth: -3180.682239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 100.747252 meters # Minimum depth: 3182.681408 meters looking forward 50.000000 meters along route # Maximum depth: 3186.582343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.681408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821274; longitude = -125.553451; captureRadius = 10; duration = 201; initialDepth = 3110.710489; finalDepth = 3107.681408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.01901 # Actual altitude: 75.01901 # Commanded vehicle depth: 3107.681408 # Seafloor depth: -3182.700418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 107.928026 meters # Minimum depth: 3185.710489 meters looking forward 50.000000 meters along route # Maximum depth: 3187.283149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.710489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821249; longitude = -125.554579; captureRadius = 10; duration = 215; # abortOnTimeout = True; initialDepth = 3102.742709; finalDepth = 3110.710489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.363852 # Actual altitude: 75.363852 # Commanded vehicle depth: 3110.710489 # Seafloor depth: -3186.074341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 108.766800 meters # Minimum depth: 3177.742709 meters looking forward 50.000000 meters along route # Maximum depth: 3185.094145 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.742709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821633; longitude = -125.555691; captureRadius = 10; duration = 217; initialDepth = 3104.022610; finalDepth = 3102.742709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3514359999999 # Actual altitude: 82.3514359999999 # Commanded vehicle depth: 3102.742709 # Seafloor depth: -3185.094145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.41; 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 = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 102.946870 meters # Minimum depth: 3179.022610 meters looking forward 50.000000 meters along route # Maximum depth: 3191.487325 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.022610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822020; longitude = -125.556810; captureRadius = 10; duration = 205; initialDepth = 3096.884471; finalDepth = 3104.022610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.3514359999999 # Actual altitude: 82.3514359999999 # Commanded vehicle depth: 3104.02261 # Seafloor depth: -3179.022610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.41; 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 = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 102.757853 meters # Minimum depth: 3171.884471 meters looking forward 50.000000 meters along route # Maximum depth: 3192.597839 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3096.884471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822386; longitude = -125.557870; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 3095.401799; finalDepth = 3096.884471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.7133680000002 # Actual altitude: 95.7133680000002 # Commanded vehicle depth: 3096.884471 # Seafloor depth: -3192.597839 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.71; 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 102 # Segment length 100.159257 meters # Minimum depth: 3170.401799 meters looking forward 50.000000 meters along route # Maximum depth: 3172.223830 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.401799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823310; longitude = -125.557812; captureRadius = 10; duration = 200; initialDepth = 3079.720101; finalDepth = 3095.401799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.7133680000002 # Actual altitude: 95.7133680000002 # Commanded vehicle depth: 3095.401799 # Seafloor depth: -3170.401799 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.71; 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 102 # Segment length 100.159265 meters # Minimum depth: 3154.720101 meters looking forward 50.000000 meters along route # Maximum depth: 3171.923684 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.720101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824211; longitude = -125.557755; captureRadius = 10; duration = 200; initialDepth = 3042.021445; finalDepth = 3079.720101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.203583 # Actual altitude: 92.203583 # Commanded vehicle depth: 3079.720101 # Seafloor depth: -3171.923684 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.66; 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 102 # Segment length 100.159272 meters # Minimum depth: 3117.021445 meters looking forward 50.000000 meters along route # Maximum depth: 3151.736075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3042.021445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825113; longitude = -125.557699; captureRadius = 10; duration = 200; initialDepth = 3021.420373; finalDepth = 3042.021445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.71463 # Actual altitude: 100 # Commanded vehicle depth: 3042.021445 # Seafloor depth: -3151.736075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 102 # Segment length 100.159281 meters # Minimum depth: 3096.420373 meters looking forward 50.000000 meters along route # Maximum depth: 3113.286087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3021.420373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826014; longitude = -125.557642; captureRadius = 10; duration = 200; initialDepth = 3024.826012; finalDepth = 3021.420373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.71463 # Actual altitude: 100 # Commanded vehicle depth: 3021.420373 # Seafloor depth: -3113.286087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 102 # Segment length 100.159288 meters # Minimum depth: 3099.826012 meters looking forward 50.000000 meters along route # Maximum depth: 3105.427726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3024.826012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826915; longitude = -125.557585; captureRadius = 10; duration = 200; initialDepth = 3029.037157; finalDepth = 3024.826012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.865714 # Actual altitude: 91.865714 # Commanded vehicle depth: 3024.826012 # Seafloor depth: -3099.826012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.56; 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 102 # Segment length 100.159296 meters # Minimum depth: 3104.037157 meters looking forward 50.000000 meters along route # Maximum depth: 3119.617059 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3029.037157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827816; longitude = -125.557528; captureRadius = 10; duration = 200; initialDepth = 3047.575059; finalDepth = 3029.037157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3029.037157 # Seafloor depth: -3104.037157 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 100.159304 meters # Minimum depth: 3122.575059 meters looking forward 50.000000 meters along route # Maximum depth: 3146.839668 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3047.575059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828717; longitude = -125.557472; captureRadius = 10; duration = 200; initialDepth = 3074.761400; finalDepth = 3047.575059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3047.575059 # Seafloor depth: -3122.575059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 100.159312 meters # Minimum depth: 3149.761400 meters looking forward 50.000000 meters along route # Maximum depth: 3161.229520 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3074.761400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829619; longitude = -125.557415; captureRadius = 10; duration = 200; initialDepth = 3002.304124; finalDepth = 3074.761400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3074.7614 # Seafloor depth: -3149.761400 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 104.173481 meters # Minimum depth: 3077.304124 meters looking forward 50.000000 meters along route # Maximum depth: 3148.189347 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3002.304124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830520; longitude = -125.557358; captureRadius = 10; duration = 208; initialDepth = 2923.114938; finalDepth = 3002.304124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 145.885223 # Actual altitude: 100 # Commanded vehicle depth: 3002.304124 # Seafloor depth: -3148.189347 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 148.416086 meters # Minimum depth: 2998.114938 meters looking forward 50.000000 meters along route # Maximum depth: 3074.140869 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2923.114938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831457; longitude = -125.557299; captureRadius = 10; duration = 296; # abortOnTimeout = True; initialDepth = 2925.800898; finalDepth = 2923.114938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 151.025931 # Actual altitude: 100 # Commanded vehicle depth: 2923.114938 # Seafloor depth: -3074.140869 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 101 # Segment length 101.660225 meters # Minimum depth: 3000.800898 meters looking forward 50.000000 meters along route # Maximum depth: 3016.754496 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2925.800898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832773; longitude = -125.557002; captureRadius = 10; duration = 203; initialDepth = 2928.176895; finalDepth = 2925.800898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 151.025931 # Actual altitude: 100 # Commanded vehicle depth: 2925.800898 # Seafloor depth: -3000.800898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 101 # Segment length 101.660191 meters # Minimum depth: 3003.176895 meters looking forward 50.000000 meters along route # Maximum depth: 3013.599361 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2928.176895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833674; longitude = -125.556799; captureRadius = 10; duration = 203; initialDepth = 2943.770822; finalDepth = 2928.176895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.347906 # Actual altitude: 81.347906 # Commanded vehicle depth: 2928.176895 # Seafloor depth: -3009.524801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 325.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 101.660155 meters # Minimum depth: 3018.770822 meters looking forward 50.000000 meters along route # Maximum depth: 3044.303805 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2943.770822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834575; longitude = -125.556596; captureRadius = 10; duration = 203; initialDepth = 2959.916219; finalDepth = 2943.770822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.347906 # Actual altitude: 81.347906 # Commanded vehicle depth: 2943.770822 # Seafloor depth: -3018.770822 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 325.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 101.660121 meters # Minimum depth: 3034.916219 meters looking forward 50.000000 meters along route # Maximum depth: 3043.526035 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2959.916219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835476; longitude = -125.556393; captureRadius = 10; duration = 203; initialDepth = 2970.622599; finalDepth = 2959.916219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0678679999996 # Actual altitude: 76.0678679999996 # Commanded vehicle depth: 2959.916219 # Seafloor depth: -3035.984087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 101.660086 meters # Minimum depth: 3045.622599 meters looking forward 50.000000 meters along route # Maximum depth: 3056.055124 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2970.622599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836377; longitude = -125.556190; captureRadius = 10; duration = 203; initialDepth = 2974.195163; finalDepth = 2970.622599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0678679999996 # Actual altitude: 76.0678679999996 # Commanded vehicle depth: 2970.622599 # Seafloor depth: -3045.622599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 101.660051 meters # Minimum depth: 3049.195163 meters looking forward 50.000000 meters along route # Maximum depth: 3056.817001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2974.195163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837278; longitude = -125.555987; captureRadius = 10; duration = 203; initialDepth = 2968.844739; finalDepth = 2974.195163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.621838 # Actual altitude: 82.621838 # Commanded vehicle depth: 2974.195163 # Seafloor depth: -3056.817001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 102.523028 meters # Minimum depth: 3043.844739 meters looking forward 50.000000 meters along route # Maximum depth: 3050.471110 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2968.844739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838180; longitude = -125.555783; captureRadius = 10; duration = 205; initialDepth = 2975.735561; finalDepth = 2968.844739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.621838 # Actual altitude: 82.621838 # Commanded vehicle depth: 2968.844739 # Seafloor depth: -3048.314333 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 107.206367 meters # Minimum depth: 3050.735561 meters looking forward 50.000000 meters along route # Maximum depth: 3062.267925 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2975.735561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839088; longitude = -125.555579; captureRadius = 10; duration = 214; initialDepth = 2977.294678; finalDepth = 2975.735561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.4695939999997 # Actual altitude: 79.4695939999997 # Commanded vehicle depth: 2975.735561 # Seafloor depth: -3050.735561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 317.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 154.959429 meters # Minimum depth: 3052.294678 meters looking forward 50.000000 meters along route # Maximum depth: 3093.176153 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2977.294678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840039; longitude = -125.555364; captureRadius = 10; duration = 309; # abortOnTimeout = True; initialDepth = 3013.625861; finalDepth = 2977.294678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2977.294678 # Seafloor depth: -3052.294678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.116478 meters # Minimum depth: 3088.625861 meters looking forward 50.000000 meters along route # Maximum depth: 3095.203199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3013.625861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841099; longitude = -125.554235; captureRadius = 10; duration = 200; initialDepth = 2984.297145; finalDepth = 3013.625861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.60493 # Actual altitude: 80.60493 # Commanded vehicle depth: 3013.625861 # Seafloor depth: -3094.230791 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.42; 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 = 322.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 105.350656 meters # Minimum depth: 3059.297145 meters looking forward 50.000000 meters along route # Maximum depth: 3086.551666 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2984.297145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841784; longitude = -125.553505; captureRadius = 10; duration = 210; initialDepth = 2969.777444; finalDepth = 2984.297145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.254521 # Actual altitude: 100 # Commanded vehicle depth: 2984.297145 # Seafloor depth: -3086.551666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 100 # Segment length 105.350204 meters # Minimum depth: 3044.777444 meters looking forward 50.000000 meters along route # Maximum depth: 3058.311001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2969.777444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842505; longitude = -125.552737; captureRadius = 10; duration = 210; initialDepth = 2958.672385; finalDepth = 2969.777444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.254521 # Actual altitude: 100 # Commanded vehicle depth: 2969.777444 # Seafloor depth: -3058.311001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 100 # Segment length 105.349750 meters # Minimum depth: 3033.672385 meters looking forward 50.000000 meters along route # Maximum depth: 3044.260871 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2958.672385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843226; longitude = -125.551969; captureRadius = 10; duration = 210; initialDepth = 2955.137120; finalDepth = 2958.672385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.5335570000002 # Actual altitude: 88.5335570000002 # Commanded vehicle depth: 2958.672385 # Seafloor depth: -3044.260871 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; 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 100 # Segment length 106.143205 meters # Minimum depth: 3030.137120 meters looking forward 50.000000 meters along route # Maximum depth: 3033.644836 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.137120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843947; longitude = -125.551201; captureRadius = 10; duration = 212; initialDepth = 2955.146065; finalDepth = 2955.137120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.5884860000001 # Actual altitude: 85.5884860000001 # Commanded vehicle depth: 2955.13712 # Seafloor depth: -3033.644836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 342.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 342.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 107.533091 meters # Minimum depth: 3030.146065 meters looking forward 50.000000 meters along route # Maximum depth: 3058.534419 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2955.146065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844674; longitude = -125.550427; captureRadius = 10; duration = 215; initialDepth = 2984.678988; finalDepth = 2955.146065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5077160000001 # Actual altitude: 78.5077160000001 # Commanded vehicle depth: 2955.146065 # Seafloor depth: -3030.146065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 314.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 107.532619 meters # Minimum depth: 3059.678988 meters looking forward 50.000000 meters along route # Maximum depth: 3084.151755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2984.678988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845409; longitude = -125.549643; captureRadius = 10; duration = 215; initialDepth = 3009.258712; finalDepth = 2984.678988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2984.678988 # Seafloor depth: -3059.678988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 100.185562 meters # Minimum depth: 3084.258712 meters looking forward 50.000000 meters along route # Maximum depth: 3086.246982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3009.258712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846145; longitude = -125.548859; captureRadius = 10; duration = 200; initialDepth = 3011.388560; finalDepth = 3009.258712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3009.258712 # Seafloor depth: -3084.258712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 105.347487 meters # Minimum depth: 3086.388560 meters looking forward 50.000000 meters along route # Maximum depth: 3098.743221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3011.388560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846831; longitude = -125.548129; captureRadius = 10; duration = 210; initialDepth = 3024.867631; finalDepth = 3011.388560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3011.38856 # Seafloor depth: -3086.388560 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 105.347035 meters # Minimum depth: 3099.867631 meters looking forward 50.000000 meters along route # Maximum depth: 3108.302037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3024.867631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847552; longitude = -125.547361; captureRadius = 10; duration = 210; initialDepth = 3032.082700; finalDepth = 3024.867631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3024.867631 # Seafloor depth: -3099.867631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 105.346582 meters # Minimum depth: 3107.082700 meters looking forward 50.000000 meters along route # Maximum depth: 3122.713302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3032.082700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848273; longitude = -125.546593; captureRadius = 10; duration = 210; initialDepth = 3048.359787; finalDepth = 3032.082700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3032.0827 # Seafloor depth: -3107.082700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 106.594418 meters # Minimum depth: 3123.359787 meters looking forward 50.000000 meters along route # Maximum depth: 3154.288476 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3048.359787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848994; longitude = -125.545825; captureRadius = 10; duration = 213; initialDepth = 3079.763245; finalDepth = 3048.359787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3048.359787 # Seafloor depth: -3123.359787 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 111.844299 meters # Minimum depth: 3154.763245 meters looking forward 50.000000 meters along route # Maximum depth: 3156.718873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.763245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849723; longitude = -125.545048; captureRadius = 10; duration = 223; # abortOnTimeout = True; initialDepth = 3081.924974; finalDepth = 3079.763245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3079.763245 # Seafloor depth: -3154.763245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 101.174498 meters # Minimum depth: 3156.924974 meters looking forward 50.000000 meters along route # Maximum depth: 3158.720230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.924974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850436; longitude = -125.545934; captureRadius = 10; duration = 202; initialDepth = 3083.418820; finalDepth = 3081.924974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3081.924974 # Seafloor depth: -3156.924974 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 93.986533 meters # Minimum depth: 3158.418820 meters looking forward 50.000000 meters along route # Maximum depth: 3159.605612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.418820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851080; longitude = -125.546736; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 3046.454487; finalDepth = 3083.418820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4096710000003 # Actual altitude: 75.4096710000003 # Commanded vehicle depth: 3083.41882 # Seafloor depth: -3158.828491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 301.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 105.543832 meters # Minimum depth: 3121.454487 meters looking forward 50.000000 meters along route # Maximum depth: 3159.213170 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3046.454487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850436; longitude = -125.547420; captureRadius = 10; duration = 211; initialDepth = 3029.266589; finalDepth = 3046.454487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.758683 # Actual altitude: 100 # Commanded vehicle depth: 3046.454487 # Seafloor depth: -3159.213170 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 98 # Segment length 107.813227 meters # Minimum depth: 3104.266589 meters looking forward 50.000000 meters along route # Maximum depth: 3121.328484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3029.266589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849712; longitude = -125.548187; captureRadius = 10; duration = 215; initialDepth = 2977.072937; finalDepth = 3029.266589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.758683 # Actual altitude: 100 # Commanded vehicle depth: 3029.266589 # Seafloor depth: -3121.328484 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 98 # Segment length 102.076905 meters # Minimum depth: 3052.072937 meters looking forward 50.000000 meters along route # Maximum depth: 3103.249460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2977.072937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848973; longitude = -125.548971; captureRadius = 10; duration = 204; initialDepth = 2931.671993; finalDepth = 2977.072937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 126.176523 # Actual altitude: 100 # Commanded vehicle depth: 2977.072937 # Seafloor depth: -3103.249460 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 98 # Segment length 105.145553 meters # Minimum depth: 3006.671993 meters looking forward 50.000000 meters along route # Maximum depth: 3046.789438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2931.671993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848273; longitude = -125.549713; captureRadius = 10; duration = 210; initialDepth = 2917.547381; finalDepth = 2931.671993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 126.176523 # Actual altitude: 100 # Commanded vehicle depth: 2931.671993 # Seafloor depth: -3046.789438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 98 # Segment length 105.146003 meters # Minimum depth: 2992.547381 meters looking forward 50.000000 meters along route # Maximum depth: 3004.426397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2917.547381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847552; longitude = -125.550478; captureRadius = 10; duration = 210; initialDepth = 2917.162378; finalDepth = 2917.547381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.117445 # Actual altitude: 100 # Commanded vehicle depth: 2917.547381 # Seafloor depth: -3004.426397 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 98 # Segment length 105.146452 meters # Minimum depth: 2992.162378 meters looking forward 50.000000 meters along route # Maximum depth: 2992.930967 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2917.162378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846831; longitude = -125.551243; captureRadius = 10; duration = 210; initialDepth = 2917.989218; finalDepth = 2917.162378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.8790160000003 # Actual altitude: 86.8790160000003 # Commanded vehicle depth: 2917.162378 # Seafloor depth: -2992.589681 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 347.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 347.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 106.156053 meters # Minimum depth: 2992.989218 meters looking forward 50.000000 meters along route # Maximum depth: 3012.895513 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2917.989218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846110; longitude = -125.552007; captureRadius = 10; duration = 212; initialDepth = 2938.425921; finalDepth = 2917.989218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4273029999999 # Actual altitude: 75.4273029999999 # Commanded vehicle depth: 2917.989218 # Seafloor depth: -2992.989218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 107.815995 meters # Minimum depth: 3013.425921 meters looking forward 50.000000 meters along route # Maximum depth: 3076.364961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2938.425921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845382; longitude = -125.552779; captureRadius = 10; duration = 215; initialDepth = 2988.701344; finalDepth = 2938.425921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2938.425921 # Seafloor depth: -3013.425921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 101.470005 meters # Minimum depth: 3078.374906 meters looking forward 50.000000 meters along route # Maximum depth: 3117.697352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2988.701344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844643; longitude = -125.553563; captureRadius = 10; duration = 202; initialDepth = 3036.017584; finalDepth = 2988.701344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6735618368707 # Actual altitude: 89.6735618368707 # Commanded vehicle depth: 2988.70134416313 # Seafloor depth: -3078.374906 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 105.148250 meters # Minimum depth: 3118.966851 meters looking forward 50.000000 meters along route # Maximum depth: 3120.419498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3036.017584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843947; longitude = -125.554301; captureRadius = 10; duration = 210; initialDepth = 3028.512793; finalDepth = 3036.017584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6735618368707 # Actual altitude: 89.6735618368707 # Commanded vehicle depth: 3036.01758364819 # Seafloor depth: -3119.108468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 105.148699 meters # Minimum depth: 3103.512793 meters looking forward 50.000000 meters along route # Maximum depth: 3118.719775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3028.512793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843226; longitude = -125.555065; captureRadius = 10; duration = 210; initialDepth = 3011.037730; finalDepth = 3028.512793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.2069820000002 # Actual altitude: 90.2069820000002 # Commanded vehicle depth: 3028.512793 # Seafloor depth: -3118.719775 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 105.149149 meters # Minimum depth: 3086.037730 meters looking forward 50.000000 meters along route # Maximum depth: 3102.189288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3011.037730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842505; longitude = -125.555830; captureRadius = 10; duration = 210; initialDepth = 3014.240939; finalDepth = 3011.037730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.151558 # Actual altitude: 91.151558 # Commanded vehicle depth: 3011.03773 # Seafloor depth: -3102.189288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.35; 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 98 # Segment length 106.750667 meters # Minimum depth: 3089.240939 meters looking forward 50.000000 meters along route # Maximum depth: 3124.087034 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3014.240939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841784; longitude = -125.556594; captureRadius = 10; duration = 213; initialDepth = 3047.985657; finalDepth = 3014.240939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 91.151558 # Actual altitude: 91.151558 # Commanded vehicle depth: 3014.240939 # Seafloor depth: -3089.240939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.35; 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 97 # Segment length 172.135687 meters # Minimum depth: 3122.985657 meters looking forward 50.000000 meters along route # Maximum depth: 3137.100797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3047.985657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841052; longitude = -125.557370; captureRadius = 10; duration = 344; # abortOnTimeout = True; initialDepth = 3057.591514; finalDepth = 3047.985657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3047.985657 # Seafloor depth: -3122.985657 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 101.987126 meters # Minimum depth: 3132.591514 meters looking forward 50.000000 meters along route # Maximum depth: 3138.396315 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3057.591514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839531; longitude = -125.557746; captureRadius = 10; duration = 203; initialDepth = 3056.440601; finalDepth = 3057.591514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8048009999998 # Actual altitude: 80.8048009999998 # Commanded vehicle depth: 3057.591514 # Seafloor depth: -3138.396315 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 323.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 101.987170 meters # Minimum depth: 3131.440601 meters looking forward 50.000000 meters along route # Maximum depth: 3146.138673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3056.440601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838630; longitude = -125.557969; captureRadius = 10; duration = 203; initialDepth = 3072.526069; finalDepth = 3056.440601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8048009999998 # Actual altitude: 80.8048009999998 # Commanded vehicle depth: 3056.440601 # Seafloor depth: -3131.440601 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 323.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 101.987214 meters # Minimum depth: 3147.526069 meters looking forward 50.000000 meters along route # Maximum depth: 3168.414740 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.526069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837729; longitude = -125.558192; captureRadius = 10; duration = 203; initialDepth = 3071.413167; finalDepth = 3072.526069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3072.526069 # Seafloor depth: -3147.526069 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 101.987256 meters # Minimum depth: 3146.413167 meters looking forward 50.000000 meters along route # Maximum depth: 3169.684499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3071.413167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836828; longitude = -125.558415; captureRadius = 10; duration = 203; initialDepth = 3043.549387; finalDepth = 3071.413167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.2713319999998 # Actual altitude: 98.2713319999998 # Commanded vehicle depth: 3071.413167 # Seafloor depth: -3169.684499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 101.987301 meters # Minimum depth: 3118.549387 meters looking forward 50.000000 meters along route # Maximum depth: 3145.167530 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3043.549387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835927; longitude = -125.558638; captureRadius = 10; duration = 203; initialDepth = 3003.908313; finalDepth = 3043.549387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.618143 # Actual altitude: 100 # Commanded vehicle depth: 3043.549387 # Seafloor depth: -3145.167530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 97 # Segment length 101.987344 meters # Minimum depth: 3078.908313 meters looking forward 50.000000 meters along route # Maximum depth: 3114.474139 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3003.908313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835026; longitude = -125.558860; captureRadius = 10; duration = 203; initialDepth = 3000.077330; finalDepth = 3003.908313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.565826 # Actual altitude: 100 # Commanded vehicle depth: 3003.908313 # Seafloor depth: -3114.474139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 97 # Segment length 101.987387 meters # Minimum depth: 3075.077330 meters looking forward 50.000000 meters along route # Maximum depth: 3092.706838 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3000.077330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834124; longitude = -125.559083; captureRadius = 10; duration = 203; initialDepth = 3007.455068; finalDepth = 3000.077330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.565826 # Actual altitude: 100 # Commanded vehicle depth: 3000.07733 # Seafloor depth: -3075.077330 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 97 # Segment length 106.018295 meters # Minimum depth: 3082.455068 meters looking forward 50.000000 meters along route # Maximum depth: 3097.540287 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3007.455068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833223; longitude = -125.559306; captureRadius = 10; duration = 212; initialDepth = 3006.982727; finalDepth = 3007.455068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.0852189999996 # Actual altitude: 90.0852189999996 # Commanded vehicle depth: 3007.455068 # Seafloor depth: -3097.540287 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 96 # Segment length 148.104683 meters # Minimum depth: 3081.982727 meters looking forward 50.000000 meters along route # Maximum depth: 3163.781231 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3006.982727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832286; longitude = -125.559537; captureRadius = 10; duration = 296; # abortOnTimeout = True; initialDepth = 3076.045074; finalDepth = 3006.982727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.0852189999996 # Actual altitude: 90.0852189999996 # Commanded vehicle depth: 3006.982727 # Seafloor depth: -3081.982727 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 96 # Segment length 107.342470 meters # Minimum depth: 3167.327417 meters looking forward 50.000000 meters along route # Maximum depth: 3181.062841 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3076.045074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830970; longitude = -125.559810; captureRadius = 10; duration = 214; initialDepth = 3106.195801; finalDepth = 3076.045074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 91.2823434505272 # Actual altitude: 91.2823434505272 # Commanded vehicle depth: 3076.04507354947 # Seafloor depth: -3167.327417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; 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 95 # Segment length 76.909669 meters # Minimum depth: 3181.195801 meters looking forward 50.000000 meters along route # Maximum depth: 3183.186236 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.195801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830016; longitude = -125.560008; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 3105.459701; finalDepth = 3106.195801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.2823434505272 # Actual altitude: 91.2823434505272 # Commanded vehicle depth: 3106.195801 # Seafloor depth: -3181.195801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; 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 95 # Segment length 108.023599 meters # Minimum depth: 3180.459701 meters looking forward 50.000000 meters along route # Maximum depth: 3183.423512 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.459701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830190; longitude = -125.560842; captureRadius = 10; duration = 216; initialDepth = 3106.865295; finalDepth = 3105.459701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.9638109999996 # Actual altitude: 77.9638109999996 # Commanded vehicle depth: 3105.459701 # Seafloor depth: -3183.423512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 90.783623 meters # Minimum depth: 3181.865295 meters looking forward 50.000000 meters along route # Maximum depth: 3184.582674 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.865295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830434; longitude = -125.562014; captureRadius = 10; duration = 181; # abortOnTimeout = True; initialDepth = 3109.584906; finalDepth = 3106.865295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9638109999996 # Actual altitude: 77.9638109999996 # Commanded vehicle depth: 3106.865295 # Seafloor depth: -3181.865295 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 101.311564 meters # Minimum depth: 3184.584906 meters looking forward 50.000000 meters along route # Maximum depth: 3191.438286 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.584906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831241; longitude = -125.561850; captureRadius = 10; duration = 202; initialDepth = 3073.671910; finalDepth = 3109.584906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.584906 # Seafloor depth: -3184.584906 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.358017 meters # Minimum depth: 3148.671910 meters looking forward 50.000000 meters along route # Maximum depth: 3190.774108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.671910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832142; longitude = -125.561667; captureRadius = 10; duration = 202; initialDepth = 3041.468546; finalDepth = 3073.671910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.102198 # Actual altitude: 100 # Commanded vehicle depth: 3073.67191 # Seafloor depth: -3190.774108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 94 # Segment length 101.357990 meters # Minimum depth: 3116.468546 meters looking forward 50.000000 meters along route # Maximum depth: 3145.729613 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3041.468546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833043; longitude = -125.561484; captureRadius = 10; duration = 202; initialDepth = 3027.620092; finalDepth = 3041.468546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.102198 # Actual altitude: 100 # Commanded vehicle depth: 3041.468546 # Seafloor depth: -3145.729613 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 94 # Segment length 101.357963 meters # Minimum depth: 3102.620092 meters looking forward 50.000000 meters along route # Maximum depth: 3115.079479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3027.620092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833944; longitude = -125.561301; captureRadius = 10; duration = 202; initialDepth = 3047.668510; finalDepth = 3027.620092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.261067 # Actual altitude: 100 # Commanded vehicle depth: 3027.620092 # Seafloor depth: -3112.841503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 94 # Segment length 101.357937 meters # Minimum depth: 3122.668510 meters looking forward 50.000000 meters along route # Maximum depth: 3188.808599 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3047.668510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834845; longitude = -125.561117; captureRadius = 10; duration = 202; initialDepth = 3094.932491; finalDepth = 3047.668510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.221411 # Actual altitude: 85.221411 # Commanded vehicle depth: 3047.66851 # Seafloor depth: -3122.668510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.89; 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 = 340.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.357909 meters # Minimum depth: 3189.025242 meters looking forward 50.000000 meters along route # Maximum depth: 3190.241145 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3094.932491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835746; longitude = -125.560934; captureRadius = 10; duration = 202; initialDepth = 3110.644951; finalDepth = 3094.932491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3086536805586 # Actual altitude: 95.3086536805586 # Commanded vehicle depth: 3094.93249131944 # Seafloor depth: -3190.241145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.59; 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 94 # Segment length 101.357883 meters # Minimum depth: 3185.644951 meters looking forward 50.000000 meters along route # Maximum depth: 3188.859001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.644951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836648; longitude = -125.560751; captureRadius = 10; duration = 202; initialDepth = 3110.261166; finalDepth = 3110.644951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3086536805586 # Actual altitude: 95.3086536805586 # Commanded vehicle depth: 3110.644951 # Seafloor depth: -3188.859001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.59; 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 94 # Segment length 101.357857 meters # Minimum depth: 3185.261166 meters looking forward 50.000000 meters along route # Maximum depth: 3187.479469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.261166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837549; longitude = -125.560568; captureRadius = 10; duration = 202; initialDepth = 3112.643631; finalDepth = 3110.261166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2140499999996 # Actual altitude: 78.2140499999996 # Commanded vehicle depth: 3110.261166 # Seafloor depth: -3185.261166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.357829 meters # Minimum depth: 3187.643631 meters looking forward 50.000000 meters along route # Maximum depth: 3190.463090 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3112.643631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838450; longitude = -125.560385; captureRadius = 10; duration = 202; initialDepth = 3111.036222; finalDepth = 3112.643631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3112.643631 # Seafloor depth: -3187.643631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.357803 meters # Minimum depth: 3186.036222 meters looking forward 50.000000 meters along route # Maximum depth: 3190.919838 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.036222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839351; longitude = -125.560201; captureRadius = 10; duration = 202; initialDepth = 3110.210423; finalDepth = 3111.036222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8836159999996 # Actual altitude: 79.8836159999996 # Commanded vehicle depth: 3111.036222 # Seafloor depth: -3190.919838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 319.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.816008 meters # Minimum depth: 3185.210423 meters looking forward 50.000000 meters along route # Maximum depth: 3188.797061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.210423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840252; longitude = -125.560018; captureRadius = 10; duration = 203; initialDepth = 3113.853980; finalDepth = 3110.210423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8836159999996 # Actual altitude: 79.8836159999996 # Commanded vehicle depth: 3110.210423 # Seafloor depth: -3185.383407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 319.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 104.219771 meters # Minimum depth: 3188.853980 meters looking forward 50.000000 meters along route # Maximum depth: 3197.662466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.853980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841158; longitude = -125.559834; captureRadius = 10; duration = 208; initialDepth = 3115.764545; finalDepth = 3113.853980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.1729839999998 # Actual altitude: 75.1729839999998 # Commanded vehicle depth: 3113.85398 # Seafloor depth: -3188.853980 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.69; 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 = 300.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 151.682860 meters # Minimum depth: 3190.764545 meters looking forward 50.000000 meters along route # Maximum depth: 3198.081726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.764545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842084; longitude = -125.559646; captureRadius = 10; duration = 303; # abortOnTimeout = True; initialDepth = 3095.758066; finalDepth = 3115.764545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3171809999999 # Actual altitude: 82.3171809999999 # Commanded vehicle depth: 3115.764545 # Seafloor depth: -3198.081726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 102.948212 meters # Minimum depth: 3170.758066 meters looking forward 50.000000 meters along route # Maximum depth: 3190.061797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.758066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843087; longitude = -125.558490; captureRadius = 10; duration = 205; initialDepth = 3030.984662; finalDepth = 3095.758066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.303731 # Actual altitude: 94.303731 # Commanded vehicle depth: 3095.758066 # Seafloor depth: -3190.061797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 102.860379 meters # Minimum depth: 3105.984662 meters looking forward 50.000000 meters along route # Maximum depth: 3170.742829 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3030.984662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843767; longitude = -125.557706; captureRadius = 10; duration = 205; initialDepth = 3022.114136; finalDepth = 3030.984662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 139.758167 # Actual altitude: 100 # Commanded vehicle depth: 3030.984662 # Seafloor depth: -3170.742829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.903611 meters # Minimum depth: 3097.114136 meters looking forward 50.000000 meters along route # Maximum depth: 3102.558647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3022.114136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844447; longitude = -125.556922; captureRadius = 10; duration = 205; initialDepth = 2989.197761; finalDepth = 3022.114136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 139.758167 # Actual altitude: 100 # Commanded vehicle depth: 3022.114136 # Seafloor depth: -3102.558647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.903155 meters # Minimum depth: 3064.197761 meters looking forward 50.000000 meters along route # Maximum depth: 3100.145914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2989.197761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845127; longitude = -125.556139; captureRadius = 10; duration = 205; initialDepth = 2916.751167; finalDepth = 2989.197761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.948153 # Actual altitude: 100 # Commanded vehicle depth: 2989.197761 # Seafloor depth: -3100.145914 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.902699 meters # Minimum depth: 2991.751167 meters looking forward 50.000000 meters along route # Maximum depth: 3059.459562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2916.751167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845807; longitude = -125.555355; captureRadius = 10; duration = 205; initialDepth = 2901.417604; finalDepth = 2916.751167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 142.708395 # Actual altitude: 100 # Commanded vehicle depth: 2916.751167 # Seafloor depth: -3059.459562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.902243 meters # Minimum depth: 2976.417604 meters looking forward 50.000000 meters along route # Maximum depth: 2990.299370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2901.417604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846487; longitude = -125.554571; captureRadius = 10; duration = 205; initialDepth = 2901.053998; finalDepth = 2901.417604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 142.708395 # Actual altitude: 100 # Commanded vehicle depth: 2901.417604 # Seafloor depth: -2990.299370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.901786 meters # Minimum depth: 2976.053998 meters looking forward 50.000000 meters along route # Maximum depth: 2978.338921 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2901.053998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847167; longitude = -125.553787; captureRadius = 10; duration = 205; initialDepth = 2902.903312; finalDepth = 2901.053998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.881766 # Actual altitude: 88.881766 # Commanded vehicle depth: 2901.053998 # Seafloor depth: -2978.338921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.66; 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 93 # Segment length 105.358433 meters # Minimum depth: 2977.903312 meters looking forward 50.000000 meters along route # Maximum depth: 2981.804790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2902.903312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847847; longitude = -125.553003; captureRadius = 10; duration = 210; initialDepth = 2907.013490; finalDepth = 2902.903312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2849230000002 # Actual altitude: 77.2849230000002 # Commanded vehicle depth: 2902.903312 # Seafloor depth: -2977.903312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.14; 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 = 309.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 100.443772 meters # Minimum depth: 2982.013490 meters looking forward 50.000000 meters along route # Maximum depth: 3025.022327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2907.013490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848543; longitude = -125.552200; captureRadius = 10; duration = 200; initialDepth = 2953.851189; finalDepth = 2907.013490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2907.01349 # Seafloor depth: -2982.013490 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 104.099022 meters # Minimum depth: 3029.324589 meters looking forward 50.000000 meters along route # Maximum depth: 3109.520604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2953.851189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849207; longitude = -125.551435; captureRadius = 10; duration = 208; initialDepth = 3002.393359; finalDepth = 2953.851189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.473399812593 # Actual altitude: 75.473399812593 # Commanded vehicle depth: 2953.85118918741 # Seafloor depth: -3029.324589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 101.701359 meters # Minimum depth: 3110.341572 meters looking forward 50.000000 meters along route # Maximum depth: 3126.760263 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3002.393359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849895; longitude = -125.550642; captureRadius = 10; duration = 203; initialDepth = 3049.817481; finalDepth = 3002.393359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.948212590835 # Actual altitude: 100 # Commanded vehicle depth: 3002.39335940916 # Seafloor depth: -3110.341572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 102.899506 meters # Minimum depth: 3126.943423 meters looking forward 50.000000 meters along route # Maximum depth: 3158.403524 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3049.817481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850567; longitude = -125.549867; captureRadius = 10; duration = 205; initialDepth = 3083.422889; finalDepth = 3049.817481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.948212590835 # Actual altitude: 100 # Commanded vehicle depth: 3049.81748103407 # Seafloor depth: -3126.943423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 93 # Segment length 100.427132 meters # Minimum depth: 3158.422889 meters looking forward 50.000000 meters along route # Maximum depth: 3171.049242 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.422889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851247; longitude = -125.549083; captureRadius = 10; duration = 200; initialDepth = 3094.480835; finalDepth = 3083.422889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.1259419659282 # Actual altitude: 77.1259419659282 # Commanded vehicle depth: 3083.422889 # Seafloor depth: -3158.422889 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.50; 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 92 # Segment length 110.449804 meters # Minimum depth: 3169.480835 meters looking forward 50.000000 meters along route # Maximum depth: 3181.958014 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3094.480835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851911; longitude = -125.548318; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 3106.960237; finalDepth = 3094.480835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3094.480835 # Seafloor depth: -3169.480835 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 103.898504 meters # Minimum depth: 3181.960237 meters looking forward 50.000000 meters along route # Maximum depth: 3184.727784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.960237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852508; longitude = -125.549308; captureRadius = 10; duration = 207; initialDepth = 3109.630432; finalDepth = 3106.960237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3106.960237 # Seafloor depth: -3181.960237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 82.850887 meters # Minimum depth: 3184.630432 meters looking forward 50.000000 meters along route # Maximum depth: 3187.606973 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.630432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853070; longitude = -125.550240; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 3085.610748; finalDepth = 3109.630432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.630432 # Seafloor depth: -3184.630432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 102.191836 meters # Minimum depth: 3160.610748 meters looking forward 50.000000 meters along route # Maximum depth: 3183.602161 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.610748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852526; longitude = -125.550875; captureRadius = 10; duration = 204; initialDepth = 3085.646827; finalDepth = 3085.610748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.9914129999997 # Actual altitude: 97.9914129999997 # Commanded vehicle depth: 3085.610748 # Seafloor depth: -3183.602161 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.40; 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 91 # Segment length 102.192289 meters # Minimum depth: 3160.646827 meters looking forward 50.000000 meters along route # Maximum depth: 3171.408135 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.646827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851855; longitude = -125.551659; captureRadius = 10; duration = 204; initialDepth = 3043.426307; finalDepth = 3085.646827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.9914129999997 # Actual altitude: 97.9914129999997 # Commanded vehicle depth: 3085.646827 # Seafloor depth: -3160.646827 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.40; 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 91 # Segment length 102.192743 meters # Minimum depth: 3118.426307 meters looking forward 50.000000 meters along route # Maximum depth: 3165.778896 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3043.426307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851183; longitude = -125.552443; captureRadius = 10; duration = 204; initialDepth = 3008.221939; finalDepth = 3043.426307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.352589 # Actual altitude: 100 # Commanded vehicle depth: 3043.426307 # Seafloor depth: -3165.778896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 91 # Segment length 102.193197 meters # Minimum depth: 3083.221939 meters looking forward 50.000000 meters along route # Maximum depth: 3117.717729 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3008.221939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850512; longitude = -125.553227; captureRadius = 10; duration = 204; initialDepth = 2995.722493; finalDepth = 3008.221939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.352589 # Actual altitude: 100 # Commanded vehicle depth: 3008.221939 # Seafloor depth: -3117.717729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 91 # Segment length 102.193650 meters # Minimum depth: 3070.722493 meters looking forward 50.000000 meters along route # Maximum depth: 3080.799184 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2995.722493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849841; longitude = -125.554011; captureRadius = 10; duration = 204; initialDepth = 2982.844730; finalDepth = 2995.722493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.49579 # Actual altitude: 100 # Commanded vehicle depth: 2995.722493 # Seafloor depth: -3080.799184 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 91 # Segment length 102.194103 meters # Minimum depth: 3057.844730 meters looking forward 50.000000 meters along route # Maximum depth: 3070.550203 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2982.844730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849169; longitude = -125.554795; captureRadius = 10; duration = 204; initialDepth = 2989.465279; finalDepth = 2982.844730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.705473 # Actual altitude: 87.705473 # Commanded vehicle depth: 2982.84473 # Seafloor depth: -3070.550203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 102.897433 meters # Minimum depth: 3064.465279 meters looking forward 50.000000 meters along route # Maximum depth: 3092.155271 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2989.465279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848498; longitude = -125.555579; captureRadius = 10; duration = 205; initialDepth = 3017.470176; finalDepth = 2989.465279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.705473 # Actual altitude: 87.705473 # Commanded vehicle depth: 2989.465279 # Seafloor depth: -3064.465279 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 101.492134 meters # Minimum depth: 3092.470176 meters looking forward 50.000000 meters along route # Maximum depth: 3131.760738 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3017.470176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847822; longitude = -125.556368; captureRadius = 10; duration = 202; initialDepth = 3059.856916; finalDepth = 3017.470176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3017.470176 # Seafloor depth: -3092.470176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 104.283521 meters # Minimum depth: 3134.856916 meters looking forward 50.000000 meters along route # Maximum depth: 3168.367900 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3059.856916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847155; longitude = -125.557146; captureRadius = 10; duration = 208; initialDepth = 3090.554721; finalDepth = 3059.856916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3059.856916 # Seafloor depth: -3134.856916 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 100.107861 meters # Minimum depth: 3165.554721 meters looking forward 50.000000 meters along route # Maximum depth: 3168.811819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.554721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846470; longitude = -125.557946; captureRadius = 10; duration = 200; initialDepth = 3090.205203; finalDepth = 3090.554721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0272450000002 # Actual altitude: 78.0272450000002 # Commanded vehicle depth: 3090.554721 # Seafloor depth: -3168.581966 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.11; 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 = 312.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 102.196371 meters # Minimum depth: 3165.205203 meters looking forward 50.000000 meters along route # Maximum depth: 3176.456304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.205203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845813; longitude = -125.558714; captureRadius = 10; duration = 204; initialDepth = 3105.330095; finalDepth = 3090.205203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0272450000002 # Actual altitude: 78.0272450000002 # Commanded vehicle depth: 3090.205203 # Seafloor depth: -3165.205203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.11; 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 = 312.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 102.196825 meters # Minimum depth: 3180.330095 meters looking forward 50.000000 meters along route # Maximum depth: 3209.086675 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.330095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845141; longitude = -125.559498; captureRadius = 10; duration = 204; initialDepth = 3134.345381; finalDepth = 3105.330095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3105.330095 # Seafloor depth: -3180.330095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 107.055769 meters # Minimum depth: 3209.345381 meters looking forward 50.000000 meters along route # Maximum depth: 3211.709256 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3134.345381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844470; longitude = -125.560282; captureRadius = 10; duration = 214; initialDepth = 3136.823732; finalDepth = 3134.345381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3134.345381 # Seafloor depth: -3209.345381 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 102.653314 meters # Minimum depth: 3211.823732 meters looking forward 50.000000 meters along route # Maximum depth: 3213.489654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3136.823732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843767; longitude = -125.561103; captureRadius = 10; duration = 205; initialDepth = 3127.562931; finalDepth = 3136.823732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3136.823732 # Seafloor depth: -3211.823732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 136.953032 meters # Minimum depth: 3202.562931 meters looking forward 50.000000 meters along route # Maximum depth: 3213.502563 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3127.562931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843093; longitude = -125.561891; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 3110.666128; finalDepth = 3127.562931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9396320000001 # Actual altitude: 85.9396320000001 # Commanded vehicle depth: 3127.562931 # Seafloor depth: -3213.502563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 343.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 343.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 101.317045 meters # Minimum depth: 3185.666128 meters looking forward 50.000000 meters along route # Maximum depth: 3200.049848 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.666128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841874; longitude = -125.562135; captureRadius = 10; duration = 202; initialDepth = 3105.966067; finalDepth = 3110.666128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.3837200000003 # Actual altitude: 89.3837200000003 # Commanded vehicle depth: 3110.666128 # Seafloor depth: -3200.049848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 101.317071 meters # Minimum depth: 3180.966067 meters looking forward 50.000000 meters along route # Maximum depth: 3184.710589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.966067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840973; longitude = -125.562315; captureRadius = 10; duration = 202; initialDepth = 3101.837473; finalDepth = 3105.966067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.3837200000003 # Actual altitude: 89.3837200000003 # Commanded vehicle depth: 3105.966067 # Seafloor depth: -3184.710589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 101.317097 meters # Minimum depth: 3176.837473 meters looking forward 50.000000 meters along route # Maximum depth: 3180.942041 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.837473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840072; longitude = -125.562495; captureRadius = 10; duration = 202; initialDepth = 3101.683623; finalDepth = 3101.837473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1045679999997 # Actual altitude: 79.1045679999997 # Commanded vehicle depth: 3101.837473 # Seafloor depth: -3180.942041 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 102.484762 meters # Minimum depth: 3176.683623 meters looking forward 50.000000 meters along route # Maximum depth: 3180.471367 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.683623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839171; longitude = -125.562676; captureRadius = 10; duration = 204; initialDepth = 3105.514120; finalDepth = 3101.683623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1045679999997 # Actual altitude: 79.1045679999997 # Commanded vehicle depth: 3101.683623 # Seafloor depth: -3176.683623 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 100.149508 meters # Minimum depth: 3180.514120 meters looking forward 50.000000 meters along route # Maximum depth: 3184.920299 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.514120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838259; longitude = -125.562858; captureRadius = 10; duration = 200; initialDepth = 3110.180122; finalDepth = 3105.514120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3105.51412 # Seafloor depth: -3180.514120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 101.317173 meters # Minimum depth: 3185.180122 meters looking forward 50.000000 meters along route # Maximum depth: 3186.248385 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.180122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837369; longitude = -125.563036; captureRadius = 10; duration = 202; initialDepth = 3111.343546; finalDepth = 3110.180122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3110.180122 # Seafloor depth: -3185.180122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 109.435752 meters # Minimum depth: 3186.343546 meters looking forward 50.000000 meters along route # Maximum depth: 3189.091466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.343546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836467; longitude = -125.563216; captureRadius = 10; duration = 218; initialDepth = 3031.661475; finalDepth = 3111.343546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3111.343546 # Seafloor depth: -3186.343546 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 183.000112 meters # Minimum depth: 3106.661475 meters looking forward 50.000000 meters along route # Maximum depth: 3185.181458 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3031.661475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835494; longitude = -125.563411; captureRadius = 10; duration = 366; # abortOnTimeout = True; initialDepth = 3031.920471; finalDepth = 3031.661475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 153.519983 # Actual altitude: 100 # Commanded vehicle depth: 3031.661475 # Seafloor depth: -3185.181458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 160.184662 meters # Minimum depth: 3106.920471 meters looking forward 50.000000 meters along route # Maximum depth: 3150.286836 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3031.920471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834273; longitude = -125.562033; captureRadius = 10; duration = 320; # abortOnTimeout = True; initialDepth = 3073.823884; finalDepth = 3031.920471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 153.519983 # Actual altitude: 100 # Commanded vehicle depth: 3031.920471 # Seafloor depth: -3106.920471 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 87 # Segment length 119.385086 meters # Minimum depth: 3148.823884 meters looking forward 50.000000 meters along route # Maximum depth: 3169.800537 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.823884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833247; longitude = -125.560771; captureRadius = 10; duration = 238; # abortOnTimeout = True; initialDepth = 3095.185359; finalDepth = 3073.823884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8179620000001 # Actual altitude: 75.8179620000001 # Commanded vehicle depth: 3073.823884 # Seafloor depth: -3149.641846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.27; 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 = 303.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 108.298578 meters # Minimum depth: 3170.185359 meters looking forward 50.000000 meters along route # Maximum depth: 3180.347409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.185359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832773; longitude = -125.561971; captureRadius = 10; duration = 216; initialDepth = 3104.117004; finalDepth = 3095.185359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.8179620000001 # Actual altitude: 75.8179620000001 # Commanded vehicle depth: 3095.185359 # Seafloor depth: -3170.185359 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.27; 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 = 303.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 83.440972 meters # Minimum depth: 3179.117004 meters looking forward 50.000000 meters along route # Maximum depth: 3185.400172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.117004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832342; longitude = -125.563060; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 3111.352988; finalDepth = 3104.117004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3104.117004 # Seafloor depth: -3179.117004 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 104.414856 meters # Minimum depth: 3186.352988 meters looking forward 50.000000 meters along route # Maximum depth: 3187.454534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.352988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832724; longitude = -125.563866; captureRadius = 10; duration = 208; initialDepth = 3109.098559; finalDepth = 3111.352988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3111.352988 # Seafloor depth: -3186.352988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 101.011973 meters # Minimum depth: 3184.098559 meters looking forward 50.000000 meters along route # Maximum depth: 3186.416905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.098559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833202; longitude = -125.564874; captureRadius = 10; duration = 202; initialDepth = 3109.581360; finalDepth = 3109.098559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.318346 # Actual altitude: 77.318346 # Commanded vehicle depth: 3109.098559 # Seafloor depth: -3186.416905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 162.416204 meters # Minimum depth: 3184.581360 meters looking forward 50.000000 meters along route # Maximum depth: 3185.889785 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.581360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833664; longitude = -125.565849; captureRadius = 10; duration = 324; # abortOnTimeout = True; initialDepth = 3104.551837; finalDepth = 3109.581360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.318346 # Actual altitude: 77.318346 # Commanded vehicle depth: 3109.58136 # Seafloor depth: -3185.150818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.850491 meters # Minimum depth: 3179.551837 meters looking forward 50.000000 meters along route # Maximum depth: 3183.917714 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.551837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835116; longitude = -125.565617; captureRadius = 10; duration = 201; initialDepth = 3104.066290; finalDepth = 3104.551837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3658770000002 # Actual altitude: 79.3658770000002 # Commanded vehicle depth: 3104.551837 # Seafloor depth: -3183.917714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.81; MB_Bottom_Detect_Filter_Max_Range = 317.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850479 meters # Minimum depth: 3179.066290 meters looking forward 50.000000 meters along route # Maximum depth: 3179.510211 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.066290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836017; longitude = -125.565474; captureRadius = 10; duration = 201; initialDepth = 3104.175276; finalDepth = 3104.066290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3658770000002 # Actual altitude: 79.3658770000002 # Commanded vehicle depth: 3104.06629 # Seafloor depth: -3179.510211 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.81; MB_Bottom_Detect_Filter_Max_Range = 317.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850465 meters # Minimum depth: 3179.175276 meters looking forward 50.000000 meters along route # Maximum depth: 3180.210370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.175276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836918; longitude = -125.565330; captureRadius = 10; duration = 201; initialDepth = 3105.367646; finalDepth = 3104.175276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4439209999996 # Actual altitude: 75.4439209999996 # Commanded vehicle depth: 3104.175276 # Seafloor depth: -3179.175276 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850452 meters # Minimum depth: 3180.367646 meters looking forward 50.000000 meters along route # Maximum depth: 3180.924688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.367646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837819; longitude = -125.565186; captureRadius = 10; duration = 201; initialDepth = 3102.477574; finalDepth = 3105.367646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.005557 # Actual altitude: 75.005557 # Commanded vehicle depth: 3105.367646 # Seafloor depth: -3180.373203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850440 meters # Minimum depth: 3177.477574 meters looking forward 50.000000 meters along route # Maximum depth: 3180.017034 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.477574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838720; longitude = -125.565042; captureRadius = 10; duration = 201; initialDepth = 3103.078357; finalDepth = 3102.477574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.53946 # Actual altitude: 77.53946 # Commanded vehicle depth: 3102.477574 # Seafloor depth: -3180.017034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.16; 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 = 310.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850426 meters # Minimum depth: 3178.078357 meters looking forward 50.000000 meters along route # Maximum depth: 3186.981542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.078357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839622; longitude = -125.564899; captureRadius = 10; duration = 201; initialDepth = 3112.430999; finalDepth = 3103.078357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.53946 # Actual altitude: 77.53946 # Commanded vehicle depth: 3103.078357 # Seafloor depth: -3178.078357 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.16; 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 = 310.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850414 meters # Minimum depth: 3187.430999 meters looking forward 50.000000 meters along route # Maximum depth: 3195.138136 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3112.430999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840523; longitude = -125.564755; captureRadius = 10; duration = 201; initialDepth = 3120.516905; finalDepth = 3112.430999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3112.430999 # Seafloor depth: -3187.430999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.850401 meters # Minimum depth: 3195.516905 meters looking forward 50.000000 meters along route # Maximum depth: 3200.477718 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3120.516905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841424; longitude = -125.564611; captureRadius = 10; duration = 201; initialDepth = 3125.698649; finalDepth = 3120.516905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3120.516905 # Seafloor depth: -3195.516905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 107.719862 meters # Minimum depth: 3200.698649 meters looking forward 50.000000 meters along route # Maximum depth: 3200.914877 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.698649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842325; longitude = -125.564467; captureRadius = 10; duration = 215; initialDepth = 3125.897312; finalDepth = 3125.698649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1740399999999 # Actual altitude: 75.1740399999999 # Commanded vehicle depth: 3125.698649 # Seafloor depth: -3200.872689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.70; 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 = 300.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 101.692110 meters # Minimum depth: 3200.897312 meters looking forward 50.000000 meters along route # Maximum depth: 3202.356186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.897312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843288; longitude = -125.564314; captureRadius = 10; duration = 203; initialDepth = 3127.319519; finalDepth = 3125.897312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.1740399999999 # Actual altitude: 75.1740399999999 # Commanded vehicle depth: 3125.897312 # Seafloor depth: -3200.897312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.70; 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 = 300.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 136.552841 meters # Minimum depth: 3202.319519 meters looking forward 50.000000 meters along route # Maximum depth: 3206.990294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3127.319519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844196; longitude = -125.564169; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 3132.223435; finalDepth = 3127.319519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3127.319519 # Seafloor depth: -3202.319519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 108.319777 meters # Minimum depth: 3207.223435 meters looking forward 50.000000 meters along route # Maximum depth: 3212.778930 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3132.223435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845062; longitude = -125.563082; captureRadius = 10; duration = 216; initialDepth = 3138.716741; finalDepth = 3132.223435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3132.223435 # Seafloor depth: -3207.223435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 102.718412 meters # Minimum depth: 3213.716741 meters looking forward 50.000000 meters along route # Maximum depth: 3218.792056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3138.716741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845749; longitude = -125.562220; captureRadius = 10; duration = 205; initialDepth = 3143.826483; finalDepth = 3138.716741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3138.716741 # Seafloor depth: -3213.716741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 110.392700 meters # Minimum depth: 3218.826483 meters looking forward 50.000000 meters along route # Maximum depth: 3221.317568 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3143.826483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846401; longitude = -125.561402; captureRadius = 10; duration = 220; initialDepth = 3115.701236; finalDepth = 3143.826483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3143.826483 # Seafloor depth: -3218.826483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 100.643475 meters # Minimum depth: 3190.701236 meters looking forward 50.000000 meters along route # Maximum depth: 3218.593712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.701236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847101; longitude = -125.560523; captureRadius = 10; duration = 201; initialDepth = 3098.043088; finalDepth = 3115.701236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.892476 # Actual altitude: 100 # Commanded vehicle depth: 3115.701236 # Seafloor depth: -3218.593712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 84 # Segment length 112.551803 meters # Minimum depth: 3173.043088 meters looking forward 50.000000 meters along route # Maximum depth: 3190.297997 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.043088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847740; longitude = -125.559722; captureRadius = 10; duration = 225; initialDepth = 3098.044521; finalDepth = 3098.043088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.892476 # Actual altitude: 100 # Commanded vehicle depth: 3098.043088 # Seafloor depth: -3190.297997 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 84 # Segment length 112.551230 meters # Minimum depth: 3173.044521 meters looking forward 50.000000 meters along route # Maximum depth: 3187.709703 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.044521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848454; longitude = -125.558826; captureRadius = 10; duration = 225; initialDepth = 3115.439530; finalDepth = 3098.044521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.2549090000002 # Actual altitude: 92.2549090000002 # Commanded vehicle depth: 3098.044521 # Seafloor depth: -3173.044521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 100.469553 meters # Minimum depth: 3190.439530 meters looking forward 50.000000 meters along route # Maximum depth: 3194.989644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.439530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849167; longitude = -125.557930; captureRadius = 10; duration = 200; initialDepth = 3119.489630; finalDepth = 3115.439530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3115.43953 # Seafloor depth: -3190.439530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 110.562459 meters # Minimum depth: 3194.489630 meters looking forward 50.000000 meters along route # Maximum depth: 3197.001898 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.489630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849805; longitude = -125.557131; captureRadius = 10; duration = 221; initialDepth = 3116.611678; finalDepth = 3119.489630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3119.48963 # Seafloor depth: -3194.489630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 102.542491 meters # Minimum depth: 3191.611678 meters looking forward 50.000000 meters along route # Maximum depth: 3197.459827 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3116.611678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850506; longitude = -125.556251; captureRadius = 10; duration = 205; initialDepth = 3115.679863; finalDepth = 3116.611678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8481489999999 # Actual altitude: 80.8481489999999 # Commanded vehicle depth: 3116.611678 # Seafloor depth: -3197.459827 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 323.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 108.487508 meters # Minimum depth: 3190.679863 meters looking forward 50.000000 meters along route # Maximum depth: 3191.406225 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.679863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851157; longitude = -125.555434; captureRadius = 10; duration = 216; initialDepth = 3110.364889; finalDepth = 3115.679863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8481489999999 # Actual altitude: 80.8481489999999 # Commanded vehicle depth: 3115.679863 # Seafloor depth: -3191.406225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 323.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 104.615388 meters # Minimum depth: 3185.364889 meters looking forward 50.000000 meters along route # Maximum depth: 3190.607523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.364889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851845; longitude = -125.554571; captureRadius = 10; duration = 209; initialDepth = 3109.872965; finalDepth = 3110.364889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2426340000002 # Actual altitude: 80.2426340000002 # Commanded vehicle depth: 3110.364889 # Seafloor depth: -3190.607523 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 106.412597 meters # Minimum depth: 3184.872965 meters looking forward 50.000000 meters along route # Maximum depth: 3193.294306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.872965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852508; longitude = -125.553738; captureRadius = 10; duration = 212; initialDepth = 3118.938152; finalDepth = 3109.872965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2426340000002 # Actual altitude: 80.2426340000002 # Commanded vehicle depth: 3109.872965 # Seafloor depth: -3184.872965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 107.004379 meters # Minimum depth: 3193.938152 meters looking forward 50.000000 meters along route # Maximum depth: 3195.581652 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.938152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853183; longitude = -125.552891; captureRadius = 10; duration = 214; initialDepth = 3118.539224; finalDepth = 3118.938152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3118.938152 # Seafloor depth: -3193.938152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 107.857348 meters # Minimum depth: 3193.539224 meters looking forward 50.000000 meters along route # Maximum depth: 3196.151470 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.539224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853862; longitude = -125.552039; captureRadius = 10; duration = 215; # abortOnTimeout = True; initialDepth = 3109.812058; finalDepth = 3118.539224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5934050000001 # Actual altitude: 76.5934050000001 # Commanded vehicle depth: 3118.539224 # Seafloor depth: -3195.132629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 101.022019 meters # Minimum depth: 3184.812058 meters looking forward 50.000000 meters along route # Maximum depth: 3192.336365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.812058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854581; longitude = -125.552852; captureRadius = 10; duration = 202; initialDepth = 3110.256626; finalDepth = 3109.812058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 82.5243070000001 # Actual altitude: 82.5243070000001 # Commanded vehicle depth: 3109.812058 # Seafloor depth: -3192.336365 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.10; 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 = 330.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 92.856043 meters # Minimum depth: 3185.256626 meters looking forward 50.000000 meters along route # Maximum depth: 3186.120548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.256626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855254; longitude = -125.553614; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 3111.188249; finalDepth = 3110.256626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5243070000001 # Actual altitude: 82.5243070000001 # Commanded vehicle depth: 3110.256626 # Seafloor depth: -3185.473206 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.10; 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 = 330.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.428865 meters # Minimum depth: 3186.188249 meters looking forward 50.000000 meters along route # Maximum depth: 3189.763576 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.188249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854671; longitude = -125.554361; captureRadius = 10; duration = 200; initialDepth = 3114.814751; finalDepth = 3111.188249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2165800000002 # Actual altitude: 75.2165800000002 # Commanded vehicle depth: 3111.188249 # Seafloor depth: -3186.188249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.429326 meters # Minimum depth: 3189.814751 meters looking forward 50.000000 meters along route # Maximum depth: 3194.526894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.814751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854040; longitude = -125.555168; captureRadius = 10; duration = 200; initialDepth = 3108.373218; finalDepth = 3114.814751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3114.814751 # Seafloor depth: -3189.814751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.429786 meters # Minimum depth: 3183.373218 meters looking forward 50.000000 meters along route # Maximum depth: 3194.571892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.373218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853409; longitude = -125.555975; captureRadius = 10; duration = 200; initialDepth = 3108.297547; finalDepth = 3108.373218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1986739999998 # Actual altitude: 86.1986739999998 # Commanded vehicle depth: 3108.373218 # Seafloor depth: -3194.571892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 344.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.430247 meters # Minimum depth: 3183.297547 meters looking forward 50.000000 meters along route # Maximum depth: 3191.903050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.297547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852779; longitude = -125.556782; captureRadius = 10; duration = 200; initialDepth = 3118.115559; finalDepth = 3108.297547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1986739999998 # Actual altitude: 86.1986739999998 # Commanded vehicle depth: 3108.297547 # Seafloor depth: -3183.297547 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 344.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.430707 meters # Minimum depth: 3193.115559 meters looking forward 50.000000 meters along route # Maximum depth: 3196.850331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.115559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852148; longitude = -125.557589; captureRadius = 10; duration = 200; initialDepth = 3093.894375; finalDepth = 3118.115559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3118.115559 # Seafloor depth: -3193.115559 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.431167 meters # Minimum depth: 3168.894375 meters looking forward 50.000000 meters along route # Maximum depth: 3194.504197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3093.894375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851517; longitude = -125.558396; captureRadius = 10; duration = 200; initialDepth = 3093.922571; finalDepth = 3093.894375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.609822 # Actual altitude: 100 # Commanded vehicle depth: 3093.894375 # Seafloor depth: -3194.504197 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 82 # Segment length 100.431629 meters # Minimum depth: 3168.922571 meters looking forward 50.000000 meters along route # Maximum depth: 3206.062984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3093.922571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850886; longitude = -125.559203; captureRadius = 10; duration = 200; initialDepth = 3133.538999; finalDepth = 3093.922571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.609822 # Actual altitude: 100 # Commanded vehicle depth: 3093.922571 # Seafloor depth: -3168.922571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 82 # Segment length 100.432088 meters # Minimum depth: 3208.538999 meters looking forward 50.000000 meters along route # Maximum depth: 3216.404208 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3133.538999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850255; longitude = -125.560010; captureRadius = 10; duration = 200; initialDepth = 3134.945324; finalDepth = 3133.538999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3133.538999 # Seafloor depth: -3208.538999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.664107 meters # Minimum depth: 3209.945324 meters looking forward 50.000000 meters along route # Maximum depth: 3214.474752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3134.945324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849625; longitude = -125.560817; captureRadius = 10; duration = 201; initialDepth = 3138.349036; finalDepth = 3134.945324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5294280000003 # Actual altitude: 79.5294280000003 # Commanded vehicle depth: 3134.945324 # Seafloor depth: -3214.474752 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.201453 meters # Minimum depth: 3213.349036 meters looking forward 50.000000 meters along route # Maximum depth: 3220.316863 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3138.349036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848992; longitude = -125.561626; captureRadius = 10; duration = 200; initialDepth = 3142.364885; finalDepth = 3138.349036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5294280000003 # Actual altitude: 79.5294280000003 # Commanded vehicle depth: 3138.349036 # Seafloor depth: -3213.349036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.433470 meters # Minimum depth: 3217.364885 meters looking forward 50.000000 meters along route # Maximum depth: 3220.107260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3142.364885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848363; longitude = -125.562431; captureRadius = 10; duration = 200; initialDepth = 3142.049535; finalDepth = 3142.364885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7423750000003 # Actual altitude: 77.7423750000003 # Commanded vehicle depth: 3142.364885 # Seafloor depth: -3220.107260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.97; 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 = 310.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.433932 meters # Minimum depth: 3217.049535 meters looking forward 50.000000 meters along route # Maximum depth: 3217.279871 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3142.049535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847732; longitude = -125.563238; captureRadius = 10; duration = 200; initialDepth = 3137.052641; finalDepth = 3142.049535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7423750000003 # Actual altitude: 77.7423750000003 # Commanded vehicle depth: 3142.049535 # Seafloor depth: -3217.267452 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.97; 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 = 310.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.434391 meters # Minimum depth: 3212.052641 meters looking forward 50.000000 meters along route # Maximum depth: 3216.861054 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3137.052641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847101; longitude = -125.564045; captureRadius = 10; duration = 200; initialDepth = 3126.797257; finalDepth = 3137.052641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8084129999997 # Actual altitude: 79.8084129999997 # Commanded vehicle depth: 3137.052641 # Seafloor depth: -3216.861054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 100.434853 meters # Minimum depth: 3201.797257 meters looking forward 50.000000 meters along route # Maximum depth: 3211.078888 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3126.797257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846470; longitude = -125.564852; captureRadius = 10; duration = 200; initialDepth = 3124.557843; finalDepth = 3126.797257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2816309999998 # Actual altitude: 84.2816309999998 # Commanded vehicle depth: 3126.797257 # Seafloor depth: -3211.078888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 337.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 101.310555 meters # Minimum depth: 3199.557843 meters looking forward 50.000000 meters along route # Maximum depth: 3201.789746 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3124.557843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845840; longitude = -125.565659; captureRadius = 10; duration = 202; initialDepth = 3122.996994; finalDepth = 3124.557843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.2816309999998 # Actual altitude: 84.2816309999998 # Commanded vehicle depth: 3124.557843 # Seafloor depth: -3201.789746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 337.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 120.322878 meters # Minimum depth: 3197.996994 meters looking forward 50.000000 meters along route # Maximum depth: 3199.249848 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3122.996994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845203; longitude = -125.566474; captureRadius = 10; duration = 240; # abortOnTimeout = True; initialDepth = 3123.067766; finalDepth = 3122.996994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2319029999999 # Actual altitude: 77.2319029999999 # Commanded vehicle depth: 3122.996994 # Seafloor depth: -3199.160583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.93; 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 = 308.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.781393 meters # Minimum depth: 3198.067766 meters looking forward 50.000000 meters along route # Maximum depth: 3199.723237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3123.067766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844127; longitude = -125.566638; captureRadius = 10; duration = 201; initialDepth = 3122.787848; finalDepth = 3123.067766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.655471 # Actual altitude: 76.655471 # Commanded vehicle depth: 3123.067766 # Seafloor depth: -3199.723237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781404 meters # Minimum depth: 3197.787848 meters looking forward 50.000000 meters along route # Maximum depth: 3199.265764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3122.787848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843226; longitude = -125.566775; captureRadius = 10; duration = 201; initialDepth = 3117.506562; finalDepth = 3122.787848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.655471 # Actual altitude: 76.655471 # Commanded vehicle depth: 3122.787848 # Seafloor depth: -3198.435654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781415 meters # Minimum depth: 3192.506562 meters looking forward 50.000000 meters along route # Maximum depth: 3197.343003 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3117.506562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842325; longitude = -125.566913; captureRadius = 10; duration = 201; initialDepth = 3108.961294; finalDepth = 3117.506562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8364409999999 # Actual altitude: 79.8364409999999 # Commanded vehicle depth: 3117.506562 # Seafloor depth: -3197.343003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.35; 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 = 319.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781426 meters # Minimum depth: 3183.961294 meters looking forward 50.000000 meters along route # Maximum depth: 3191.201080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.961294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841424; longitude = -125.567050; captureRadius = 10; duration = 201; initialDepth = 3104.957761; finalDepth = 3108.961294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2397859999996 # Actual altitude: 82.2397859999996 # Commanded vehicle depth: 3108.961294 # Seafloor depth: -3191.201080 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781437 meters # Minimum depth: 3179.957761 meters looking forward 50.000000 meters along route # Maximum depth: 3183.731918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.957761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840523; longitude = -125.567188; captureRadius = 10; duration = 201; initialDepth = 3098.058091; finalDepth = 3104.957761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2397859999996 # Actual altitude: 82.2397859999996 # Commanded vehicle depth: 3104.957761 # Seafloor depth: -3183.731918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781448 meters # Minimum depth: 3173.058091 meters looking forward 50.000000 meters along route # Maximum depth: 3179.481363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.058091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839622; longitude = -125.567325; captureRadius = 10; duration = 201; initialDepth = 3094.948454; finalDepth = 3098.058091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.423272 # Actual altitude: 81.423272 # Commanded vehicle depth: 3098.058091 # Seafloor depth: -3179.481363 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.69; 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 = 325.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781459 meters # Minimum depth: 3169.948454 meters looking forward 50.000000 meters along route # Maximum depth: 3172.788007 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3094.948454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838720; longitude = -125.567463; captureRadius = 10; duration = 201; initialDepth = 3092.073203; finalDepth = 3094.948454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.423272 # Actual altitude: 81.423272 # Commanded vehicle depth: 3094.948454 # Seafloor depth: -3172.788007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.69; 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 = 325.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781470 meters # Minimum depth: 3167.073203 meters looking forward 50.000000 meters along route # Maximum depth: 3169.152625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.073203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837819; longitude = -125.567600; captureRadius = 10; duration = 201; initialDepth = 3091.734409; finalDepth = 3092.073203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8395530000003 # Actual altitude: 77.8395530000003 # Commanded vehicle depth: 3092.073203 # Seafloor depth: -3169.152625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.36; 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 = 311.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781480 meters # Minimum depth: 3166.734409 meters looking forward 50.000000 meters along route # Maximum depth: 3167.120632 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3091.734409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836918; longitude = -125.567738; captureRadius = 10; duration = 201; initialDepth = 3092.052666; finalDepth = 3091.734409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0794220000002 # Actual altitude: 77.0794220000002 # Commanded vehicle depth: 3091.734409 # Seafloor depth: -3167.120632 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.32; 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 = 308.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781492 meters # Minimum depth: 3167.052666 meters looking forward 50.000000 meters along route # Maximum depth: 3171.553119 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.052666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836017; longitude = -125.567875; captureRadius = 10; duration = 201; initialDepth = 3096.813897; finalDepth = 3092.052666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.386223 # Actual altitude: 75.386223 # Commanded vehicle depth: 3092.052666 # Seafloor depth: -3167.052666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 301.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781502 meters # Minimum depth: 3171.813897 meters looking forward 50.000000 meters along route # Maximum depth: 3175.376503 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3096.813897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835116; longitude = -125.568013; captureRadius = 10; duration = 201; initialDepth = 3100.101276; finalDepth = 3096.813897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3096.813897 # Seafloor depth: -3171.813897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 100.781514 meters # Minimum depth: 3175.101276 meters looking forward 50.000000 meters along route # Maximum depth: 3176.177897 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3100.101276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834214; longitude = -125.568151; captureRadius = 10; duration = 201; initialDepth = 3099.727310; finalDepth = 3100.101276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3100.101276 # Seafloor depth: -3175.101276 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 109.329958 meters # Minimum depth: 3174.727310 meters looking forward 50.000000 meters along route # Maximum depth: 3178.605456 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.727310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833313; longitude = -125.568288; captureRadius = 10; duration = 218; initialDepth = 3104.368225; finalDepth = 3099.727310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.9496089999998 # Actual altitude: 75.9496089999998 # Commanded vehicle depth: 3099.72731 # Seafloor depth: -3175.676919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 174.287195 meters # Minimum depth: 3179.368225 meters looking forward 50.000000 meters along route # Maximum depth: 3186.021430 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.368225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832336; longitude = -125.568437; captureRadius = 10; duration = 348; # abortOnTimeout = True; initialDepth = 3108.587453; finalDepth = 3104.368225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9496089999998 # Actual altitude: 75.9496089999998 # Commanded vehicle depth: 3104.368225 # Seafloor depth: -3179.368225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 103.618245 meters # Minimum depth: 3183.587453 meters looking forward 50.000000 meters along route # Maximum depth: 3185.989004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.587453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831920; longitude = -125.566554; captureRadius = 10; duration = 207; initialDepth = 3105.912500; finalDepth = 3108.587453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8392199999998 # Actual altitude: 76.8392199999998 # Commanded vehicle depth: 3108.587453 # Seafloor depth: -3185.426673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.36; 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 = 307.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 105.983937 meters # Minimum depth: 3180.912500 meters looking forward 50.000000 meters along route # Maximum depth: 3183.051727 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.912500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831673; longitude = -125.565434; captureRadius = 10; duration = 211; initialDepth = 3105.911090; finalDepth = 3105.912500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1392270000001 # Actual altitude: 77.1392270000001 # Commanded vehicle depth: 3105.9125 # Seafloor depth: -3183.051727 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 101.253308 meters # Minimum depth: 3180.911090 meters looking forward 50.000000 meters along route # Maximum depth: 3184.412531 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.911090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831421; longitude = -125.564288; captureRadius = 10; duration = 202; initialDepth = 3109.190010; finalDepth = 3105.911090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1392270000001 # Actual altitude: 77.1392270000001 # Commanded vehicle depth: 3105.91109 # Seafloor depth: -3180.911090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 103.619000 meters # Minimum depth: 3184.190010 meters looking forward 50.000000 meters along route # Maximum depth: 3184.784070 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.190010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831180; longitude = -125.563194; captureRadius = 10; duration = 207; initialDepth = 3105.121375; finalDepth = 3109.190010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5940600000004 # Actual altitude: 75.5940600000004 # Commanded vehicle depth: 3109.19001 # Seafloor depth: -3184.784070 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 103.619251 meters # Minimum depth: 3180.121375 meters looking forward 50.000000 meters along route # Maximum depth: 3183.788457 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.121375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830933; longitude = -125.562074; captureRadius = 10; duration = 207; initialDepth = 3101.726905; finalDepth = 3105.121375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6670819999999 # Actual altitude: 78.6670819999999 # Commanded vehicle depth: 3105.121375 # Seafloor depth: -3183.788457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 107.476905 meters # Minimum depth: 3176.726905 meters looking forward 50.000000 meters along route # Maximum depth: 3179.759589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.726905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830686; longitude = -125.560954; captureRadius = 10; duration = 214; initialDepth = 3103.257451; finalDepth = 3101.726905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6670819999999 # Actual altitude: 78.6670819999999 # Commanded vehicle depth: 3101.726905 # Seafloor depth: -3179.759589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 314.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 105.864713 meters # Minimum depth: 3178.257451 meters looking forward 50.000000 meters along route # Maximum depth: 3182.360270 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.257451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830430; longitude = -125.559793; captureRadius = 10; duration = 211; initialDepth = 3105.163183; finalDepth = 3103.257451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.0326839999998 # Actual altitude: 78.0326839999998 # Commanded vehicle depth: 3103.257451 # Seafloor depth: -3178.296019 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.13; 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 = 312.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 93.273112 meters # Minimum depth: 3180.163183 meters looking forward 50.000000 meters along route # Maximum depth: 3182.753357 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.163183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830177; longitude = -125.558648; captureRadius = 10; duration = 186; # abortOnTimeout = True; initialDepth = 3104.793908; finalDepth = 3105.163183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5901739999999 # Actual altitude: 77.5901739999999 # Commanded vehicle depth: 3105.163183 # Seafloor depth: -3182.753357 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.105035 meters # Minimum depth: 3179.793908 meters looking forward 50.000000 meters along route # Maximum depth: 3185.975106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.793908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829348; longitude = -125.558818; captureRadius = 10; duration = 200; initialDepth = 3107.993088; finalDepth = 3104.793908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.5901739999999 # Actual altitude: 77.5901739999999 # Commanded vehicle depth: 3104.793908 # Seafloor depth: -3179.793908 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 160.376468 meters # Minimum depth: 3182.993088 meters looking forward 50.000000 meters along route # Maximum depth: 3185.891663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.993088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828458; longitude = -125.559000; captureRadius = 10; duration = 320; # abortOnTimeout = True; initialDepth = 3105.936468; finalDepth = 3107.993088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8985749999997 # Actual altitude: 77.8985749999997 # Commanded vehicle depth: 3107.993088 # Seafloor depth: -3185.891663 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 103.839099 meters # Minimum depth: 3180.936468 meters looking forward 50.000000 meters along route # Maximum depth: 3182.520850 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.936468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828851; longitude = -125.560730; captureRadius = 10; duration = 207; initialDepth = 3104.110531; finalDepth = 3105.936468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8985749999997 # Actual altitude: 77.8985749999997 # Commanded vehicle depth: 3105.936468 # Seafloor depth: -3182.520850 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 311.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.838840 meters # Minimum depth: 3179.110531 meters looking forward 50.000000 meters along route # Maximum depth: 3181.118915 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.110531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829105; longitude = -125.561850; captureRadius = 10; duration = 207; initialDepth = 3106.304469; finalDepth = 3104.110531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.584382 # Actual altitude: 76.584382 # Commanded vehicle depth: 3104.110531 # Seafloor depth: -3180.555851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 105.802061 meters # Minimum depth: 3181.304469 meters looking forward 50.000000 meters along route # Maximum depth: 3182.421449 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.304469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829359; longitude = -125.562970; captureRadius = 10; duration = 211; initialDepth = 3107.457732; finalDepth = 3106.304469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4453200000003 # Actual altitude: 76.4453200000003 # Commanded vehicle depth: 3106.304469 # Seafloor depth: -3181.304469 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.78; 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 = 305.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 101.874839 meters # Minimum depth: 3182.457732 meters looking forward 50.000000 meters along route # Maximum depth: 3183.618458 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.457732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829619; longitude = -125.564111; captureRadius = 10; duration = 203; initialDepth = 3108.830979; finalDepth = 3107.457732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3107.457732 # Seafloor depth: -3182.457732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.838060 meters # Minimum depth: 3183.830979 meters looking forward 50.000000 meters along route # Maximum depth: 3184.361022 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.830979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829868; longitude = -125.565210; captureRadius = 10; duration = 207; initialDepth = 3109.576296; finalDepth = 3108.830979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3108.830979 # Seafloor depth: -3183.830979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.837800 meters # Minimum depth: 3184.576296 meters looking forward 50.000000 meters along route # Maximum depth: 3188.354893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.576296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830122; longitude = -125.566330; captureRadius = 10; duration = 207; initialDepth = 3105.702888; finalDepth = 3109.576296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.576296 # Seafloor depth: -3184.576296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.837541 meters # Minimum depth: 3180.702888 meters looking forward 50.000000 meters along route # Maximum depth: 3185.818342 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.702888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830376; longitude = -125.567449; captureRadius = 10; duration = 207; initialDepth = 3102.346603; finalDepth = 3105.702888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1154540000002 # Actual altitude: 80.1154540000002 # Commanded vehicle depth: 3105.702888 # Seafloor depth: -3185.818342 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 320.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.837280 meters # Minimum depth: 3177.346603 meters looking forward 50.000000 meters along route # Maximum depth: 3181.612820 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.346603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830631; longitude = -125.568569; captureRadius = 10; duration = 207; initialDepth = 3102.326849; finalDepth = 3102.346603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1154540000002 # Actual altitude: 80.1154540000002 # Commanded vehicle depth: 3102.346603 # Seafloor depth: -3181.612820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 320.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 105.449397 meters # Minimum depth: 3177.326849 meters looking forward 50.000000 meters along route # Maximum depth: 3181.103474 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.326849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830885; longitude = -125.569689; captureRadius = 10; duration = 210; initialDepth = 3095.015937; finalDepth = 3102.326849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.2662169999999 # Actual altitude: 79.2662169999999 # Commanded vehicle depth: 3102.326849 # Seafloor depth: -3181.103474 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 171.657373 meters # Minimum depth: 3170.015937 meters looking forward 50.000000 meters along route # Maximum depth: 3176.944702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.015937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831143; longitude = -125.570827; captureRadius = 10; duration = 343; # abortOnTimeout = True; initialDepth = 3086.812692; finalDepth = 3095.015937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9287649999997 # Actual altitude: 81.9287649999997 # Commanded vehicle depth: 3095.015937 # Seafloor depth: -3176.944702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.489799 meters # Minimum depth: 3161.812692 meters looking forward 50.000000 meters along route # Maximum depth: 3169.603525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.812692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832682; longitude = -125.570643; captureRadius = 10; duration = 200; initialDepth = 3087.068306; finalDepth = 3086.812692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.790833 # Actual altitude: 82.790833 # Commanded vehicle depth: 3086.812692 # Seafloor depth: -3169.603525 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.16; 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 = 331.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.489797 meters # Minimum depth: 3162.068306 meters looking forward 50.000000 meters along route # Maximum depth: 3167.215625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.068306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833584; longitude = -125.570536; captureRadius = 10; duration = 200; initialDepth = 3085.334726; finalDepth = 3087.068306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.790833 # Actual altitude: 82.790833 # Commanded vehicle depth: 3087.068306 # Seafloor depth: -3162.068306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.16; 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 = 331.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.489794 meters # Minimum depth: 3160.334726 meters looking forward 50.000000 meters along route # Maximum depth: 3166.872591 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.334726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834485; longitude = -125.570428; captureRadius = 10; duration = 200; initialDepth = 3082.918928; finalDepth = 3085.334726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5378649999998 # Actual altitude: 81.5378649999998 # Commanded vehicle depth: 3085.334726 # Seafloor depth: -3166.872591 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.15; 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 = 326.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.489792 meters # Minimum depth: 3157.918928 meters looking forward 50.000000 meters along route # Maximum depth: 3160.120619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.918928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835386; longitude = -125.570321; captureRadius = 10; duration = 200; initialDepth = 3079.798552; finalDepth = 3082.918928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5378649999998 # Actual altitude: 81.5378649999998 # Commanded vehicle depth: 3082.918928 # Seafloor depth: -3160.120619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.15; 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 = 326.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.489789 meters # Minimum depth: 3154.798552 meters looking forward 50.000000 meters along route # Maximum depth: 3157.085499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.798552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836287; longitude = -125.570213; captureRadius = 10; duration = 200; initialDepth = 3080.871937; finalDepth = 3079.798552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2869469999996 # Actual altitude: 77.2869469999996 # Commanded vehicle depth: 3079.798552 # Seafloor depth: -3157.085499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.15; 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 = 309.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 103.479785 meters # Minimum depth: 3155.871937 meters looking forward 50.000000 meters along route # Maximum depth: 3162.269539 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.871937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837188; longitude = -125.570106; captureRadius = 10; duration = 206; initialDepth = 3087.851257; finalDepth = 3080.871937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.2869469999996 # Actual altitude: 77.2869469999996 # Commanded vehicle depth: 3080.871937 # Seafloor depth: -3155.871937 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.15; 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 = 309.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 107.638313 meters # Minimum depth: 3162.851257 meters looking forward 50.000000 meters along route # Maximum depth: 3167.686727 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.851257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838116; longitude = -125.569995; captureRadius = 10; duration = 215; # abortOnTimeout = True; initialDepth = 3091.971311; finalDepth = 3087.851257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3087.851257 # Seafloor depth: -3162.851257 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.573450 meters # Minimum depth: 3166.971311 meters looking forward 50.000000 meters along route # Maximum depth: 3173.420512 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3091.971311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839081; longitude = -125.569870; captureRadius = 10; duration = 201; initialDepth = 3099.158441; finalDepth = 3091.971311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3091.971311 # Seafloor depth: -3166.971311 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 100.573445 meters # Minimum depth: 3174.158441 meters looking forward 50.000000 meters along route # Maximum depth: 3175.945729 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.158441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839982; longitude = -125.569754; captureRadius = 10; duration = 201; initialDepth = 3099.267461; finalDepth = 3099.158441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.369334 # Actual altitude: 75.369334 # Commanded vehicle depth: 3099.158441 # Seafloor depth: -3174.527775 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 100.573440 meters # Minimum depth: 3174.267461 meters looking forward 50.000000 meters along route # Maximum depth: 3184.047325 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.267461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840883; longitude = -125.569637; captureRadius = 10; duration = 201; initialDepth = 3107.134465; finalDepth = 3099.267461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.369334 # Actual altitude: 75.369334 # Commanded vehicle depth: 3099.267461 # Seafloor depth: -3174.267461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 100.573435 meters # Minimum depth: 3182.134465 meters looking forward 50.000000 meters along route # Maximum depth: 3183.827077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.134465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841784; longitude = -125.569520; captureRadius = 10; duration = 201; initialDepth = 3107.013380; finalDepth = 3107.134465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6926119999998 # Actual altitude: 76.6926119999998 # Commanded vehicle depth: 3107.134465 # Seafloor depth: -3183.827077 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 106.410632 meters # Minimum depth: 3182.013380 meters looking forward 50.000000 meters along route # Maximum depth: 3182.773691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.013380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842685; longitude = -125.569403; captureRadius = 10; duration = 212; initialDepth = 3106.441633; finalDepth = 3107.013380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.6926119999998 # Actual altitude: 76.6926119999998 # Commanded vehicle depth: 3107.01338 # Seafloor depth: -3182.013380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 86.804669 meters # Minimum depth: 3181.441633 meters looking forward 50.000000 meters along route # Maximum depth: 3182.726807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.441633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843639; longitude = -125.569280; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 3106.219443; finalDepth = 3106.441633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2851740000001 # Actual altitude: 76.2851740000001 # Commanded vehicle depth: 3106.441633 # Seafloor depth: -3182.726807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 103.098164 meters # Minimum depth: 3181.219443 meters looking forward 50.000000 meters along route # Maximum depth: 3184.143907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.219443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844398; longitude = -125.569044; captureRadius = 10; duration = 206; initialDepth = 3109.772128; finalDepth = 3106.219443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2851740000001 # Actual altitude: 76.2851740000001 # Commanded vehicle depth: 3106.219443 # Seafloor depth: -3181.219443 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 100.713035 meters # Minimum depth: 3184.772128 meters looking forward 50.000000 meters along route # Maximum depth: 3191.111977 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.772128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845299; longitude = -125.568764; captureRadius = 10; duration = 201; initialDepth = 3115.489441; finalDepth = 3109.772128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.772128 # Seafloor depth: -3184.772128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 117.061257 meters # Minimum depth: 3190.489441 meters looking forward 50.000000 meters along route # Maximum depth: 3196.662826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.489441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846179; longitude = -125.568491; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 3121.710097; finalDepth = 3115.489441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3115.489441 # Seafloor depth: -3190.489441 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.980920 meters # Minimum depth: 3196.710097 meters looking forward 50.000000 meters along route # Maximum depth: 3202.245357 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3121.710097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846924; longitude = -125.567561; captureRadius = 10; duration = 225; initialDepth = 3126.946747; finalDepth = 3121.710097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3121.710097 # Seafloor depth: -3196.710097 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 113.380860 meters # Minimum depth: 3201.946747 meters looking forward 50.000000 meters along route # Maximum depth: 3206.989253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3126.946747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847642; longitude = -125.566664; captureRadius = 10; duration = 226; initialDepth = 3128.522816; finalDepth = 3126.946747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3126.946747 # Seafloor depth: -3201.946747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 113.380281 meters # Minimum depth: 3203.522816 meters looking forward 50.000000 meters along route # Maximum depth: 3206.722992 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3128.522816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848363; longitude = -125.565764; captureRadius = 10; duration = 226; initialDepth = 3128.122471; finalDepth = 3128.522816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2001759999998 # Actual altitude: 78.2001759999998 # Commanded vehicle depth: 3128.522816 # Seafloor depth: -3206.722992 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 111.554425 meters # Minimum depth: 3203.122471 meters looking forward 50.000000 meters along route # Maximum depth: 3205.978249 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3128.122471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849084; longitude = -125.564864; captureRadius = 10; duration = 223; initialDepth = 3132.153494; finalDepth = 3128.122471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2001759999998 # Actual altitude: 78.2001759999998 # Commanded vehicle depth: 3128.122471 # Seafloor depth: -3203.468664 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 101.032038 meters # Minimum depth: 3207.153494 meters looking forward 50.000000 meters along route # Maximum depth: 3210.136615 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3132.153494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849793; longitude = -125.563978; captureRadius = 10; duration = 202; initialDepth = 3119.120918; finalDepth = 3132.153494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3461929999999 # Actual altitude: 75.3461929999999 # Commanded vehicle depth: 3132.153494 # Seafloor depth: -3207.153494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.38; 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 = 301.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 110.779336 meters # Minimum depth: 3194.120918 meters looking forward 50.000000 meters along route # Maximum depth: 3209.834480 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.120918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850436; longitude = -125.563176; captureRadius = 10; duration = 221; initialDepth = 3076.535828; finalDepth = 3119.120918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.7135619999999 # Actual altitude: 90.7135619999999 # Commanded vehicle depth: 3119.120918 # Seafloor depth: -3209.834480 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 93.334284 meters # Minimum depth: 3151.535828 meters looking forward 50.000000 meters along route # Maximum depth: 3191.597534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3076.535828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851140; longitude = -125.562296; captureRadius = 10; duration = 186; # abortOnTimeout = True; initialDepth = 3070.026187; finalDepth = 3076.535828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.061706 # Actual altitude: 100 # Commanded vehicle depth: 3076.535828 # Seafloor depth: -3191.597534 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 73 # Segment length 106.959036 meters # Minimum depth: 3145.026187 meters looking forward 50.000000 meters along route # Maximum depth: 3153.470165 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3070.026187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851699; longitude = -125.561514; captureRadius = 10; duration = 213; initialDepth = 3063.361451; finalDepth = 3070.026187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.061706 # Actual altitude: 100 # Commanded vehicle depth: 3070.026187 # Seafloor depth: -3151.499531 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 73 # Segment length 103.498628 meters # Minimum depth: 3138.361451 meters looking forward 50.000000 meters along route # Maximum depth: 3144.465466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3063.361451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852339; longitude = -125.560618; captureRadius = 10; duration = 206; initialDepth = 3064.331220; finalDepth = 3063.361451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.473344 # Actual altitude: 81.473344 # Commanded vehicle depth: 3063.361451 # Seafloor depth: -3144.465466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.89; 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 = 325.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 100.512499 meters # Minimum depth: 3139.331220 meters looking forward 50.000000 meters along route # Maximum depth: 3166.154714 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3064.331220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852959; longitude = -125.559751; captureRadius = 10; duration = 201; initialDepth = 3093.013977; finalDepth = 3064.331220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.1040149999999 # Actual altitude: 81.1040149999999 # Commanded vehicle depth: 3064.33122 # Seafloor depth: -3139.331220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.42; 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 = 324.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 149.088328 meters # Minimum depth: 3168.013977 meters looking forward 50.000000 meters along route # Maximum depth: 3177.101817 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3093.013977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853561; longitude = -125.558909; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 3099.224656; finalDepth = 3093.013977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3093.013977 # Seafloor depth: -3168.013977 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.484946 meters # Minimum depth: 3174.224656 meters looking forward 50.000000 meters along route # Maximum depth: 3177.037353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.224656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854493; longitude = -125.557706; captureRadius = 10; duration = 200; initialDepth = 3099.258811; finalDepth = 3099.224656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8126970000003 # Actual altitude: 77.8126970000003 # Commanded vehicle depth: 3099.224656 # Seafloor depth: -3177.037353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.25; 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 = 311.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 107.720263 meters # Minimum depth: 3174.258811 meters looking forward 50.000000 meters along route # Maximum depth: 3176.762332 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.258811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855122; longitude = -125.556896; captureRadius = 10; duration = 215; initialDepth = 3102.132776; finalDepth = 3099.258811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8126970000003 # Actual altitude: 77.8126970000003 # Commanded vehicle depth: 3099.258811 # Seafloor depth: -3174.258811 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.25; 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 = 311.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 104.536158 meters # Minimum depth: 3177.132776 meters looking forward 50.000000 meters along route # Maximum depth: 3189.324595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.132776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855795; longitude = -125.556027; captureRadius = 10; duration = 209; initialDepth = 3115.147583; finalDepth = 3102.132776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3102.132776 # Seafloor depth: -3177.132776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 112.377117 meters # Minimum depth: 3190.147583 meters looking forward 50.000000 meters along route # Maximum depth: 3193.362878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.147583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856449; longitude = -125.555183; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 3115.740414; finalDepth = 3115.147583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3115.147583 # Seafloor depth: -3190.147583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 106.587808 meters # Minimum depth: 3190.740414 meters looking forward 50.000000 meters along route # Maximum depth: 3193.041652 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.740414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857104; longitude = -125.556144; captureRadius = 10; duration = 213; initialDepth = 3114.373235; finalDepth = 3115.740414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.301238 # Actual altitude: 77.301238 # Commanded vehicle depth: 3115.740414 # Seafloor depth: -3193.041652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.20; 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 = 309.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 141.352285 meters # Minimum depth: 3189.373235 meters looking forward 50.000000 meters along route # Maximum depth: 3190.548096 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.373235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857725; longitude = -125.557055; captureRadius = 10; duration = 282; # abortOnTimeout = True; initialDepth = 3113.324573; finalDepth = 3114.373235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.301238 # Actual altitude: 77.301238 # Commanded vehicle depth: 3114.373235 # Seafloor depth: -3190.548096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.20; 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 = 309.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.012902 meters # Minimum depth: 3188.324573 meters looking forward 50.000000 meters along route # Maximum depth: 3190.087950 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.324573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856834; longitude = -125.558186; captureRadius = 10; duration = 200; initialDepth = 3113.439855; finalDepth = 3113.324573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7633770000002 # Actual altitude: 76.7633770000002 # Commanded vehicle depth: 3113.324573 # Seafloor depth: -3190.087950 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.013357 meters # Minimum depth: 3188.439855 meters looking forward 50.000000 meters along route # Maximum depth: 3193.512009 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.439855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856203; longitude = -125.558987; captureRadius = 10; duration = 200; initialDepth = 3113.287027; finalDepth = 3113.439855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7633770000002 # Actual altitude: 76.7633770000002 # Commanded vehicle depth: 3113.439855 # Seafloor depth: -3188.439855 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 104.361757 meters # Minimum depth: 3188.287027 meters looking forward 50.000000 meters along route # Maximum depth: 3197.164766 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.287027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855572; longitude = -125.559788; captureRadius = 10; duration = 208; initialDepth = 3061.103225; finalDepth = 3113.287027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.8200620000002 # Actual altitude: 80.8200620000002 # Commanded vehicle depth: 3113.287027 # Seafloor depth: -3194.107089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 323.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 76.611317 meters # Minimum depth: 3136.103225 meters looking forward 50.000000 meters along route # Maximum depth: 3186.351074 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3061.103225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854914; longitude = -125.560623; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 3058.045645; finalDepth = 3061.103225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.247849 # Actual altitude: 100 # Commanded vehicle depth: 3061.103225 # Seafloor depth: -3186.351074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 69 # Segment length 102.053200 meters # Minimum depth: 3133.045645 meters looking forward 50.000000 meters along route # Maximum depth: 3141.942946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3058.045645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854401; longitude = -125.561197; captureRadius = 10; duration = 204; initialDepth = 3064.043190; finalDepth = 3058.045645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.247849 # Actual altitude: 100 # Commanded vehicle depth: 3058.045645 # Seafloor depth: -3134.749721 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 69 # Segment length 104.600902 meters # Minimum depth: 3139.043190 meters looking forward 50.000000 meters along route # Maximum depth: 3142.895615 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3064.043190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853717; longitude = -125.561962; captureRadius = 10; duration = 209; initialDepth = 3068.957819; finalDepth = 3064.043190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.852425 # Actual altitude: 78.852425 # Commanded vehicle depth: 3064.04319 # Seafloor depth: -3142.895615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 315.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 105.555814 meters # Minimum depth: 3143.957819 meters looking forward 50.000000 meters along route # Maximum depth: 3197.849030 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3068.957819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853016; longitude = -125.562746; captureRadius = 10; duration = 211; initialDepth = 3118.179302; finalDepth = 3068.957819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.852425 # Actual altitude: 78.852425 # Commanded vehicle depth: 3068.957819 # Seafloor depth: -3143.957819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 315.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 148.196499 meters # Minimum depth: 3198.393103 meters looking forward 50.000000 meters along route # Maximum depth: 3200.748504 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.179302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852309; longitude = -125.563537; captureRadius = 10; duration = 296; # abortOnTimeout = True; initialDepth = 3121.092617; finalDepth = 3118.179302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1576115255052 # Actual altitude: 81.1576115255052 # Commanded vehicle depth: 3118.17930247449 # Seafloor depth: -3199.336914 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.365361 meters # Minimum depth: 3196.092617 meters looking forward 50.000000 meters along route # Maximum depth: 3198.356683 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3121.092617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851407; longitude = -125.564762; captureRadius = 10; duration = 200; initialDepth = 3119.818884; finalDepth = 3121.092617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1576115255052 # Actual altitude: 81.1576115255052 # Commanded vehicle depth: 3121.092617 # Seafloor depth: -3198.356683 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 103.636956 meters # Minimum depth: 3194.818884 meters looking forward 50.000000 meters along route # Maximum depth: 3196.289884 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.818884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850796; longitude = -125.565591; captureRadius = 10; duration = 207; initialDepth = 3119.809458; finalDepth = 3119.818884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2640660000002 # Actual altitude: 77.2640660000002 # Commanded vehicle depth: 3119.818884 # Seafloor depth: -3196.006741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 103.637459 meters # Minimum depth: 3194.809458 meters looking forward 50.000000 meters along route # Maximum depth: 3204.832189 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.809458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850165; longitude = -125.566448; captureRadius = 10; duration = 207; initialDepth = 3110.517184; finalDepth = 3119.809458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1878570000003 # Actual altitude: 76.1878570000003 # Commanded vehicle depth: 3119.809458 # Seafloor depth: -3194.809458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 304.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 103.637963 meters # Minimum depth: 3185.517184 meters looking forward 50.000000 meters along route # Maximum depth: 3204.428333 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.517184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849534; longitude = -125.567304; captureRadius = 10; duration = 207; initialDepth = 3101.632568; finalDepth = 3110.517184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.911149 # Actual altitude: 93.911149 # Commanded vehicle depth: 3110.517184 # Seafloor depth: -3204.428333 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 103.671857 meters # Minimum depth: 3176.632568 meters looking forward 50.000000 meters along route # Maximum depth: 3185.535788 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.632568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848904; longitude = -125.568161; captureRadius = 10; duration = 207; initialDepth = 3101.630647; finalDepth = 3101.632568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.911149 # Actual altitude: 93.911149 # Commanded vehicle depth: 3101.632568 # Seafloor depth: -3185.535788 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 108.412025 meters # Minimum depth: 3176.630647 meters looking forward 50.000000 meters along route # Maximum depth: 3184.421048 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.630647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848273; longitude = -125.569017; captureRadius = 10; duration = 216; initialDepth = 3104.514982; finalDepth = 3101.630647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.9032200000001 # Actual altitude: 83.9032200000001 # Commanded vehicle depth: 3101.630647 # Seafloor depth: -3176.630647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 335.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 100.166181 meters # Minimum depth: 3179.514982 meters looking forward 50.000000 meters along route # Maximum depth: 3184.079994 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.514982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847613; longitude = -125.569913; captureRadius = 10; duration = 200; initialDepth = 3100.300233; finalDepth = 3104.514982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.565012 # Actual altitude: 79.565012 # Commanded vehicle depth: 3104.514982 # Seafloor depth: -3184.079994 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 163.549445 meters # Minimum depth: 3175.300233 meters looking forward 50.000000 meters along route # Maximum depth: 3179.474731 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3100.300233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847003; longitude = -125.570741; captureRadius = 10; duration = 327; # abortOnTimeout = True; initialDepth = 3100.061827; finalDepth = 3100.300233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.565012 # Actual altitude: 79.565012 # Commanded vehicle depth: 3100.300233 # Seafloor depth: -3179.474731 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 102.796998 meters # Minimum depth: 3175.061827 meters looking forward 50.000000 meters along route # Maximum depth: 3175.974757 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3100.061827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845569; longitude = -125.571163; captureRadius = 10; duration = 205; initialDepth = 3096.487585; finalDepth = 3100.061827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1744979999999 # Actual altitude: 79.1744979999999 # Commanded vehicle depth: 3100.061827 # Seafloor depth: -3175.677572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 100.389829 meters # Minimum depth: 3171.487585 meters looking forward 50.000000 meters along route # Maximum depth: 3174.808740 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3096.487585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844668; longitude = -125.571429; captureRadius = 10; duration = 200; initialDepth = 3096.762207; finalDepth = 3096.487585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.3211550000001 # Actual altitude: 78.3211550000001 # Commanded vehicle depth: 3096.487585 # Seafloor depth: -3174.808740 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.28; 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 = 313.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 122.591192 meters # Minimum depth: 3171.762207 meters looking forward 50.000000 meters along route # Maximum depth: 3174.618247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3096.762207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843788; longitude = -125.571688; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 3091.075439; finalDepth = 3096.762207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3211550000001 # Actual altitude: 78.3211550000001 # Commanded vehicle depth: 3096.762207 # Seafloor depth: -3171.762207 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.28; 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 = 313.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.203896 meters # Minimum depth: 3166.075439 meters looking forward 50.000000 meters along route # Maximum depth: 3171.055372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3091.075439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842685; longitude = -125.571768; captureRadius = 10; duration = 200; initialDepth = 3089.741474; finalDepth = 3091.075439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9799329999996 # Actual altitude: 79.9799329999996 # Commanded vehicle depth: 3091.075439 # Seafloor depth: -3171.055372 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 319.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.203890 meters # Minimum depth: 3164.741474 meters looking forward 50.000000 meters along route # Maximum depth: 3166.255013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3089.741474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841784; longitude = -125.571834; captureRadius = 10; duration = 200; initialDepth = 3083.839466; finalDepth = 3089.741474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9799329999996 # Actual altitude: 79.9799329999996 # Commanded vehicle depth: 3089.741474 # Seafloor depth: -3166.061376 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 319.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.203884 meters # Minimum depth: 3158.839466 meters looking forward 50.000000 meters along route # Maximum depth: 3163.919108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.839466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840883; longitude = -125.571900; captureRadius = 10; duration = 200; initialDepth = 3083.647185; finalDepth = 3083.839466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0796420000001 # Actual altitude: 80.0796420000001 # Commanded vehicle depth: 3083.839466 # Seafloor depth: -3163.919108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.203877 meters # Minimum depth: 3158.647185 meters looking forward 50.000000 meters along route # Maximum depth: 3158.892889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.647185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839982; longitude = -125.571966; captureRadius = 10; duration = 200; initialDepth = 3081.968451; finalDepth = 3083.647185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0796420000001 # Actual altitude: 80.0796420000001 # Commanded vehicle depth: 3083.647185 # Seafloor depth: -3158.647185 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 102.544971 meters # Minimum depth: 3156.968451 meters looking forward 50.000000 meters along route # Maximum depth: 3158.715007 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.968451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839081; longitude = -125.572031; captureRadius = 10; duration = 205; initialDepth = 3076.182150; finalDepth = 3081.968451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7465559999996 # Actual altitude: 76.7465559999996 # Commanded vehicle depth: 3081.968451 # Seafloor depth: -3158.715007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 137.970929 meters # Minimum depth: 3151.182150 meters looking forward 50.000000 meters along route # Maximum depth: 3156.824219 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3076.182150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838159; longitude = -125.572099; captureRadius = 10; duration = 275; # abortOnTimeout = True; initialDepth = 3071.291967; finalDepth = 3076.182150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.642069 # Actual altitude: 80.642069 # Commanded vehicle depth: 3076.18215 # Seafloor depth: -3156.824219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.57; 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 = 322.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.223194 meters # Minimum depth: 3146.291967 meters looking forward 50.000000 meters along route # Maximum depth: 3150.712280 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3071.291967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836918; longitude = -125.572194; captureRadius = 10; duration = 200; initialDepth = 3071.771283; finalDepth = 3071.291967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.642069 # Actual altitude: 80.642069 # Commanded vehicle depth: 3071.291967 # Seafloor depth: -3150.712280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.57; 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 = 322.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 100.223188 meters # Minimum depth: 3146.771283 meters looking forward 50.000000 meters along route # Maximum depth: 3150.263488 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3071.771283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836017; longitude = -125.572264; captureRadius = 10; duration = 200; initialDepth = 3065.715398; finalDepth = 3071.771283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4203130000001 # Actual altitude: 79.4203130000001 # Commanded vehicle depth: 3071.771283 # Seafloor depth: -3146.771283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 317.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 100.223182 meters # Minimum depth: 3140.715398 meters looking forward 50.000000 meters along route # Maximum depth: 3150.442240 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3065.715398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835116; longitude = -125.572333; captureRadius = 10; duration = 200; initialDepth = 3066.738041; finalDepth = 3065.715398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.726842 # Actual altitude: 84.726842 # Commanded vehicle depth: 3065.715398 # Seafloor depth: -3150.442240 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 338.91; 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 = 338.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 100.702211 meters # Minimum depth: 3141.738041 meters looking forward 50.000000 meters along route # Maximum depth: 3162.433929 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3066.738041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834214; longitude = -125.572402; captureRadius = 10; duration = 201; initialDepth = 3086.853252; finalDepth = 3066.738041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.726842 # Actual altitude: 84.726842 # Commanded vehicle depth: 3066.738041 # Seafloor depth: -3141.738041 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 338.91; 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 = 338.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 100.105682 meters # Minimum depth: 3161.853252 meters looking forward 50.000000 meters along route # Maximum depth: 3162.764404 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.853252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833309; longitude = -125.572472; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 3087.328288; finalDepth = 3086.853252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9111520000001 # Actual altitude: 75.9111520000001 # Commanded vehicle depth: 3086.853252 # Seafloor depth: -3162.764404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.586458 meters # Minimum depth: 3162.328288 meters looking forward 50.000000 meters along route # Maximum depth: 3169.846105 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.328288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832412; longitude = -125.572590; captureRadius = 10; duration = 201; initialDepth = 3094.847082; finalDepth = 3087.328288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9111520000001 # Actual altitude: 75.9111520000001 # Commanded vehicle depth: 3087.328288 # Seafloor depth: -3162.328288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 102.237590 meters # Minimum depth: 3169.847082 meters looking forward 50.000000 meters along route # Maximum depth: 3173.784094 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3094.847082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831511; longitude = -125.572708; captureRadius = 10; duration = 204; initialDepth = 3098.762390; finalDepth = 3094.847082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3094.847082 # Seafloor depth: -3169.847082 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 152.261689 meters # Minimum depth: 3173.762390 meters looking forward 50.000000 meters along route # Maximum depth: 3187.077172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.762390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830595; longitude = -125.572828; captureRadius = 10; duration = 304; # abortOnTimeout = True; initialDepth = 3105.169452; finalDepth = 3098.762390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3098.76239 # Seafloor depth: -3173.762390 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 101.559383 meters # Minimum depth: 3180.169452 meters looking forward 50.000000 meters along route # Maximum depth: 3187.234296 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.169452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829884; longitude = -125.571369; captureRadius = 10; duration = 203; initialDepth = 3105.028564; finalDepth = 3105.169452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.064844 # Actual altitude: 82.064844 # Commanded vehicle depth: 3105.169452 # Seafloor depth: -3187.234296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 148.632447 meters # Minimum depth: 3180.028564 meters looking forward 50.000000 meters along route # Maximum depth: 3187.568547 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.028564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829409; longitude = -125.570396; captureRadius = 10; duration = 297; # abortOnTimeout = True; initialDepth = 3105.993052; finalDepth = 3105.028564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.064844 # Actual altitude: 82.064844 # Commanded vehicle depth: 3105.028564 # Seafloor depth: -3180.028564 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 328.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 103.860442 meters # Minimum depth: 3180.993052 meters looking forward 50.000000 meters along route # Maximum depth: 3182.519285 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.993052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829044; longitude = -125.568793; captureRadius = 10; duration = 207; initialDepth = 3103.478532; finalDepth = 3105.993052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3105.993052 # Seafloor depth: -3180.993052 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.950165 meters # Minimum depth: 3178.478532 meters looking forward 50.000000 meters along route # Maximum depth: 3181.148466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.478532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828789; longitude = -125.567673; captureRadius = 10; duration = 205; initialDepth = 3105.463379; finalDepth = 3103.478532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.669934 # Actual altitude: 77.669934 # Commanded vehicle depth: 3103.478532 # Seafloor depth: -3181.148466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 166.637194 meters # Minimum depth: 3180.463379 meters looking forward 50.000000 meters along route # Maximum depth: 3188.892597 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.463379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828537; longitude = -125.566563; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 3114.231637; finalDepth = 3105.463379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.669934 # Actual altitude: 77.669934 # Commanded vehicle depth: 3105.463379 # Seafloor depth: -3180.463379 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 103.581021 meters # Minimum depth: 3189.231637 meters looking forward 50.000000 meters along route # Maximum depth: 3191.617300 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.231637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828142; longitude = -125.564762; captureRadius = 10; duration = 207; initialDepth = 3111.211622; finalDepth = 3114.231637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3114.231637 # Seafloor depth: -3189.231637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.581271 meters # Minimum depth: 3186.211622 meters looking forward 50.000000 meters along route # Maximum depth: 3190.020256 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.211622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827896; longitude = -125.563642; captureRadius = 10; duration = 207; initialDepth = 3110.957175; finalDepth = 3111.211622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.808634 # Actual altitude: 78.808634 # Commanded vehicle depth: 3111.211622 # Seafloor depth: -3190.020256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.581521 meters # Minimum depth: 3185.957175 meters looking forward 50.000000 meters along route # Maximum depth: 3186.988056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.957175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827651; longitude = -125.562522; captureRadius = 10; duration = 207; initialDepth = 3110.974970; finalDepth = 3110.957175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.808634 # Actual altitude: 78.808634 # Commanded vehicle depth: 3110.957175 # Seafloor depth: -3186.988056 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.581771 meters # Minimum depth: 3185.974970 meters looking forward 50.000000 meters along route # Maximum depth: 3188.100793 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.974970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827405; longitude = -125.561402; captureRadius = 10; duration = 207; initialDepth = 3108.759852; finalDepth = 3110.974970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0308810000001 # Actual altitude: 76.0308810000001 # Commanded vehicle depth: 3110.97497 # Seafloor depth: -3185.974970 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 304.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.606688 meters # Minimum depth: 3183.759852 meters looking forward 50.000000 meters along route # Maximum depth: 3187.973373 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.759852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827160; longitude = -125.560282; captureRadius = 10; duration = 207; initialDepth = 3108.180054; finalDepth = 3108.759852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.2135209999997 # Actual altitude: 79.2135209999997 # Commanded vehicle depth: 3108.759852 # Seafloor depth: -3187.973373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 316.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.85; 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 60 # Segment length 100.585271 meters # Minimum depth: 3183.180054 meters looking forward 50.000000 meters along route # Maximum depth: 3186.459783 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.180054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826914; longitude = -125.559162; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 3111.703089; finalDepth = 3108.180054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2135209999997 # Actual altitude: 79.2135209999997 # Commanded vehicle depth: 3108.180054 # Seafloor depth: -3183.180054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 316.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 104.008501 meters # Minimum depth: 3186.703089 meters looking forward 50.000000 meters along route # Maximum depth: 3187.534394 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.703089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826014; longitude = -125.559291; captureRadius = 10; duration = 208; initialDepth = 3112.610107; finalDepth = 3111.703089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3111.703089 # Seafloor depth: -3186.703089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 172.620229 meters # Minimum depth: 3187.610107 meters looking forward 50.000000 meters along route # Maximum depth: 3191.373920 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3112.610107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825083; longitude = -125.559425; captureRadius = 10; duration = 345; # abortOnTimeout = True; initialDepth = 3116.379570; finalDepth = 3112.610107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3112.610107 # Seafloor depth: -3187.610107 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 103.655769 meters # Minimum depth: 3191.379570 meters looking forward 50.000000 meters along route # Maximum depth: 3192.828647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3116.379570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825496; longitude = -125.561290; captureRadius = 10; duration = 207; initialDepth = 3116.961246; finalDepth = 3116.379570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3116.37957 # Seafloor depth: -3191.379570 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.645859 meters # Minimum depth: 3191.961246 meters looking forward 50.000000 meters along route # Maximum depth: 3192.798288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3116.961246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825743; longitude = -125.562410; captureRadius = 10; duration = 207; initialDepth = 3113.710412; finalDepth = 3116.961246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8370420000001 # Actual altitude: 75.8370420000001 # Commanded vehicle depth: 3116.961246 # Seafloor depth: -3192.798288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.35; 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 = 303.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.650435 meters # Minimum depth: 3188.710412 meters looking forward 50.000000 meters along route # Maximum depth: 3192.025563 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.710412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825991; longitude = -125.563530; captureRadius = 10; duration = 207; initialDepth = 3111.296617; finalDepth = 3113.710412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3151510000002 # Actual altitude: 78.3151510000002 # Commanded vehicle depth: 3113.710412 # Seafloor depth: -3192.025563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.650183 meters # Minimum depth: 3186.296617 meters looking forward 50.000000 meters along route # Maximum depth: 3188.556695 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.296617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826239; longitude = -125.564650; captureRadius = 10; duration = 207; initialDepth = 3108.109746; finalDepth = 3111.296617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3151510000002 # Actual altitude: 78.3151510000002 # Commanded vehicle depth: 3111.296617 # Seafloor depth: -3188.556695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 108.414194 meters # Minimum depth: 3183.109746 meters looking forward 50.000000 meters along route # Maximum depth: 3185.666499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.109746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826487; longitude = -125.565770; captureRadius = 10; duration = 216; initialDepth = 3107.218844; finalDepth = 3108.109746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.5567529999998 # Actual altitude: 77.5567529999998 # Commanded vehicle depth: 3108.109746 # Seafloor depth: -3185.666499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 170.218319 meters # Minimum depth: 3182.218844 meters looking forward 50.000000 meters along route # Maximum depth: 3185.355896 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.218844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826746; longitude = -125.566941; captureRadius = 10; duration = 340; # abortOnTimeout = True; initialDepth = 3106.132712; finalDepth = 3107.218844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.137052 # Actual altitude: 78.137052 # Commanded vehicle depth: 3107.218844 # Seafloor depth: -3185.355896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 102.910659 meters # Minimum depth: 3181.132712 meters looking forward 50.000000 meters along route # Maximum depth: 3183.102000 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.132712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827112; longitude = -125.568793; captureRadius = 10; duration = 205; initialDepth = 3103.385272; finalDepth = 3106.132712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.137052 # Actual altitude: 78.137052 # Commanded vehicle depth: 3106.132712 # Seafloor depth: -3182.190599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 109.423271 meters # Minimum depth: 3178.385272 meters looking forward 50.000000 meters along route # Maximum depth: 3180.429849 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.385272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827334; longitude = -125.569913; captureRadius = 10; duration = 218; initialDepth = 3099.598853; finalDepth = 3103.385272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.0445770000001 # Actual altitude: 77.0445770000001 # Commanded vehicle depth: 3103.385272 # Seafloor depth: -3180.429849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.18; 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 = 308.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 85.860768 meters # Minimum depth: 3174.598853 meters looking forward 50.000000 meters along route # Maximum depth: 3177.892456 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.598853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827569; longitude = -125.571104; captureRadius = 10; duration = 171; # abortOnTimeout = True; initialDepth = 3092.836165; finalDepth = 3099.598853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2936030000001 # Actual altitude: 78.2936030000001 # Commanded vehicle depth: 3099.598853 # Seafloor depth: -3177.892456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 104.890706 meters # Minimum depth: 3167.836165 meters looking forward 50.000000 meters along route # Maximum depth: 3174.268114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.836165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827967; longitude = -125.571929; captureRadius = 10; duration = 209; initialDepth = 3089.493726; finalDepth = 3092.836165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4319489999998 # Actual altitude: 81.4319489999998 # Commanded vehicle depth: 3092.836165 # Seafloor depth: -3174.268114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.73; 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 = 325.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 105.218488 meters # Minimum depth: 3164.493726 meters looking forward 50.000000 meters along route # Maximum depth: 3167.806340 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3089.493726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828453; longitude = -125.572937; captureRadius = 10; duration = 210; initialDepth = 3079.244319; finalDepth = 3089.493726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.4319489999998 # Actual altitude: 81.4319489999998 # Commanded vehicle depth: 3089.493726 # Seafloor depth: -3167.806340 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.73; 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 = 325.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 125.947340 meters # Minimum depth: 3154.244319 meters looking forward 50.000000 meters along route # Maximum depth: 3164.280945 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.244319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828941; longitude = -125.573948; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 3074.036006; finalDepth = 3079.244319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0366260000001 # Actual altitude: 85.0366260000001 # Commanded vehicle depth: 3079.244319 # Seafloor depth: -3164.280945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 340.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 107.962856 meters # Minimum depth: 3149.036006 meters looking forward 50.000000 meters along route # Maximum depth: 3154.266831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3074.036006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829799; longitude = -125.574872; captureRadius = 10; duration = 215; initialDepth = 3072.478232; finalDepth = 3074.036006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 85.0366260000001 # Actual altitude: 85.0366260000001 # Commanded vehicle depth: 3074.036006 # Seafloor depth: -3154.266831 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 340.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 153.110436 meters # Minimum depth: 3147.478232 meters looking forward 50.000000 meters along route # Maximum depth: 3148.766418 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.478232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830534; longitude = -125.575664; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 3073.187777; finalDepth = 3072.478232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2308250000001 # Actual altitude: 80.2308250000001 # Commanded vehicle depth: 3072.478232 # Seafloor depth: -3148.766418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.311963 meters # Minimum depth: 3148.187777 meters looking forward 50.000000 meters along route # Maximum depth: 3153.800547 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.187777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831871; longitude = -125.575244; captureRadius = 10; duration = 212; initialDepth = 3072.784049; finalDepth = 3073.187777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2881860000002 # Actual altitude: 76.2881860000002 # Commanded vehicle depth: 3073.187777 # Seafloor depth: -3148.187777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.306464 meters # Minimum depth: 3147.784049 meters looking forward 50.000000 meters along route # Maximum depth: 3150.981834 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.784049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832800; longitude = -125.574953; captureRadius = 10; duration = 202; initialDepth = 3071.169066; finalDepth = 3072.784049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.1977850000003 # Actual altitude: 78.1977850000003 # Commanded vehicle depth: 3072.784049 # Seafloor depth: -3150.981834 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 108.927859 meters # Minimum depth: 3146.169066 meters looking forward 50.000000 meters along route # Maximum depth: 3151.715092 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3071.169066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833685; longitude = -125.574675; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 3070.576747; finalDepth = 3071.169066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1977850000003 # Actual altitude: 78.1977850000003 # Commanded vehicle depth: 3071.169066 # Seafloor depth: -3147.390564 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.159411 meters # Minimum depth: 3145.576747 meters looking forward 50.000000 meters along route # Maximum depth: 3152.708182 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3070.576747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834665; longitude = -125.574613; captureRadius = 10; duration = 200; initialDepth = 3068.324390; finalDepth = 3070.576747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1314349999998 # Actual altitude: 82.1314349999998 # Commanded vehicle depth: 3070.576747 # Seafloor depth: -3152.708182 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 328.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.159420 meters # Minimum depth: 3143.324390 meters looking forward 50.000000 meters along route # Maximum depth: 3144.806769 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3068.324390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835566; longitude = -125.574557; captureRadius = 10; duration = 200; initialDepth = 3070.125325; finalDepth = 3068.324390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1314349999998 # Actual altitude: 82.1314349999998 # Commanded vehicle depth: 3068.32439 # Seafloor depth: -3144.137907 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 328.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.159427 meters # Minimum depth: 3145.125325 meters looking forward 50.000000 meters along route # Maximum depth: 3148.116703 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3070.125325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836467; longitude = -125.574500; captureRadius = 10; duration = 200; initialDepth = 3073.531645; finalDepth = 3070.125325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8135169999996 # Actual altitude: 75.8135169999996 # Commanded vehicle depth: 3070.125325 # Seafloor depth: -3145.125325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.25; 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 = 303.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 105.633181 meters # Minimum depth: 3148.531645 meters looking forward 50.000000 meters along route # Maximum depth: 3152.828982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.531645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837369; longitude = -125.574444; captureRadius = 10; duration = 211; initialDepth = 3078.149353; finalDepth = 3073.531645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3073.531645 # Seafloor depth: -3148.531645 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 114.706603 meters # Minimum depth: 3153.149353 meters looking forward 50.000000 meters along route # Maximum depth: 3154.753878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3078.149353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838319; longitude = -125.574384; captureRadius = 10; duration = 229; # abortOnTimeout = True; initialDepth = 3080.004931; finalDepth = 3078.149353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3078.149353 # Seafloor depth: -3153.149353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.149864 meters # Minimum depth: 3155.004931 meters looking forward 50.000000 meters along route # Maximum depth: 3157.032736 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.004931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839351; longitude = -125.574322; captureRadius = 10; duration = 200; initialDepth = 3081.461554; finalDepth = 3080.004931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3080.004931 # Seafloor depth: -3155.004931 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.149872 meters # Minimum depth: 3156.461554 meters looking forward 50.000000 meters along route # Maximum depth: 3162.021704 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.461554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840252; longitude = -125.574267; captureRadius = 10; duration = 200; initialDepth = 3083.357338; finalDepth = 3081.461554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3081.461554 # Seafloor depth: -3156.461554 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.149880 meters # Minimum depth: 3158.357338 meters looking forward 50.000000 meters along route # Maximum depth: 3162.694826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.357338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841153; longitude = -125.574213; captureRadius = 10; duration = 200; initialDepth = 3079.758503; finalDepth = 3083.357338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3374880000001 # Actual altitude: 79.3374880000001 # Commanded vehicle depth: 3083.357338 # Seafloor depth: -3162.694826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.149888 meters # Minimum depth: 3154.758503 meters looking forward 50.000000 meters along route # Maximum depth: 3157.441485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.758503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842055; longitude = -125.574158; captureRadius = 10; duration = 200; initialDepth = 3081.717157; finalDepth = 3079.758503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3374880000001 # Actual altitude: 79.3374880000001 # Commanded vehicle depth: 3079.758503 # Seafloor depth: -3157.441485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 108.594435 meters # Minimum depth: 3156.717157 meters looking forward 50.000000 meters along route # Maximum depth: 3160.591808 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.717157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842956; longitude = -125.574104; captureRadius = 10; duration = 217; initialDepth = 3075.822499; finalDepth = 3081.717157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.6829819999998 # Actual altitude: 77.6829819999998 # Commanded vehicle depth: 3081.717157 # Seafloor depth: -3158.367468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 113.956887 meters # Minimum depth: 3150.822499 meters looking forward 50.000000 meters along route # Maximum depth: 3157.185303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3075.822499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843933; longitude = -125.574045; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 3073.028360; finalDepth = 3075.822499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3628040000003 # Actual altitude: 81.3628040000003 # Commanded vehicle depth: 3075.822499 # Seafloor depth: -3157.185303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 102.141052 meters # Minimum depth: 3148.028360 meters looking forward 50.000000 meters along route # Maximum depth: 3149.998676 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.028360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.573787; captureRadius = 10; duration = 204; initialDepth = 3072.461049; finalDepth = 3073.028360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3628040000003 # Actual altitude: 81.3628040000003 # Commanded vehicle depth: 3073.02836 # Seafloor depth: -3149.998676 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.141004 meters # Minimum depth: 3147.461049 meters looking forward 50.000000 meters along route # Maximum depth: 3149.165121 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.461049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845840; longitude = -125.573555; captureRadius = 10; duration = 204; initialDepth = 3067.492329; finalDepth = 3072.461049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9703160000004 # Actual altitude: 76.9703160000004 # Commanded vehicle depth: 3072.461049 # Seafloor depth: -3149.165121 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.88; 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 = 307.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 108.948921 meters # Minimum depth: 3142.492329 meters looking forward 50.000000 meters along route # Maximum depth: 3147.187903 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3067.492329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846741; longitude = -125.573324; captureRadius = 10; duration = 217; initialDepth = 3066.644348; finalDepth = 3067.492329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.6955739999999 # Actual altitude: 79.6955739999999 # Commanded vehicle depth: 3067.492329 # Seafloor depth: -3147.187903 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 136.169780 meters # Minimum depth: 3141.644348 meters looking forward 50.000000 meters along route # Maximum depth: 3148.733021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3066.644348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847702; longitude = -125.573077; captureRadius = 10; duration = 272; # abortOnTimeout = True; initialDepth = 3074.448643; finalDepth = 3066.644348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6955739999999 # Actual altitude: 79.6955739999999 # Commanded vehicle depth: 3066.644348 # Seafloor depth: -3141.644348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 102.125239 meters # Minimum depth: 3149.448643 meters looking forward 50.000000 meters along route # Maximum depth: 3162.146305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3074.448643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848543; longitude = -125.571966; captureRadius = 10; duration = 204; initialDepth = 3087.420879; finalDepth = 3074.448643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3074.448643 # Seafloor depth: -3149.448643 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 108.259665 meters # Minimum depth: 3162.420879 meters looking forward 50.000000 meters along route # Maximum depth: 3169.775800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.420879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849174; longitude = -125.571133; captureRadius = 10; duration = 216; initialDepth = 3095.137014; finalDepth = 3087.420879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3087.420879 # Seafloor depth: -3162.420879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.316020 meters # Minimum depth: 3170.137014 meters looking forward 50.000000 meters along route # Maximum depth: 3174.355392 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.137014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849843; longitude = -125.570249; captureRadius = 10; duration = 208; initialDepth = 3099.320435; finalDepth = 3095.137014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3095.137014 # Seafloor depth: -3170.137014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 108.612026 meters # Minimum depth: 3174.320435 meters looking forward 50.000000 meters along route # Maximum depth: 3179.577680 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.320435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850487; longitude = -125.569398; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 3104.700026; finalDepth = 3099.320435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3099.320435 # Seafloor depth: -3174.320435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 102.344418 meters # Minimum depth: 3179.700026 meters looking forward 50.000000 meters along route # Maximum depth: 3182.532290 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.700026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851157; longitude = -125.568510; captureRadius = 10; duration = 204; initialDepth = 3107.533150; finalDepth = 3104.700026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2306669999998 # Actual altitude: 75.2306669999998 # Commanded vehicle depth: 3104.700026 # Seafloor depth: -3179.930693 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.92; 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 = 300.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 102.327108 meters # Minimum depth: 3182.533150 meters looking forward 50.000000 meters along route # Maximum depth: 3185.707294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.533150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851787; longitude = -125.567673; captureRadius = 10; duration = 204; initialDepth = 3109.810988; finalDepth = 3107.533150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2306669999998 # Actual altitude: 75.2306669999998 # Commanded vehicle depth: 3107.53315 # Seafloor depth: -3182.533150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.92; 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 = 300.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.157859 meters # Minimum depth: 3184.810988 meters looking forward 50.000000 meters along route # Maximum depth: 3188.528465 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.810988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852418; longitude = -125.566837; captureRadius = 10; duration = 206; initialDepth = 3109.246247; finalDepth = 3109.810988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.810988 # Seafloor depth: -3184.810988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.251311 meters # Minimum depth: 3184.246247 meters looking forward 50.000000 meters along route # Maximum depth: 3187.858872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.246247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853054; longitude = -125.565994; captureRadius = 10; duration = 212; initialDepth = 3108.993270; finalDepth = 3109.246247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.6126249999998 # Actual altitude: 78.6126249999998 # Commanded vehicle depth: 3109.246247 # Seafloor depth: -3187.858872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.45; 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 = 314.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 166.945279 meters # Minimum depth: 3183.993270 meters looking forward 50.000000 meters along route # Maximum depth: 3185.048950 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.993270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853709; longitude = -125.565125; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 3107.888351; finalDepth = 3108.993270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6126249999998 # Actual altitude: 78.6126249999998 # Commanded vehicle depth: 3108.99327 # Seafloor depth: -3185.048950 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.45; 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 = 314.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.933684 meters # Minimum depth: 3182.888351 meters looking forward 50.000000 meters along route # Maximum depth: 3184.894221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3107.888351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854822; longitude = -125.563866; captureRadius = 10; duration = 207; initialDepth = 3108.388678; finalDepth = 3107.888351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.00587 # Actual altitude: 77.00587 # Commanded vehicle depth: 3107.888351 # Seafloor depth: -3184.894221 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 105.121854 meters # Minimum depth: 3183.388678 meters looking forward 50.000000 meters along route # Maximum depth: 3186.370823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.388678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855514; longitude = -125.563082; captureRadius = 10; duration = 210; initialDepth = 3099.739825; finalDepth = 3108.388678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.00587 # Actual altitude: 77.00587 # Commanded vehicle depth: 3108.388678 # Seafloor depth: -3183.388678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 308.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 118.940834 meters # Minimum depth: 3174.739825 meters looking forward 50.000000 meters along route # Maximum depth: 3183.694763 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.739825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856215; longitude = -125.562289; captureRadius = 10; duration = 237; # abortOnTimeout = True; initialDepth = 3088.203101; finalDepth = 3099.739825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.9549379999999 # Actual altitude: 83.9549379999999 # Commanded vehicle depth: 3099.739825 # Seafloor depth: -3183.694763 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.483725 meters # Minimum depth: 3163.203101 meters looking forward 50.000000 meters along route # Maximum depth: 3174.731605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.203101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856924; longitude = -125.561289; captureRadius = 10; duration = 212; initialDepth = 3085.902636; finalDepth = 3088.203101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.5285039999999 # Actual altitude: 86.5285039999999 # Commanded vehicle depth: 3088.203101 # Seafloor depth: -3174.731605 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 346.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 346.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.583225 meters # Minimum depth: 3160.902636 meters looking forward 50.000000 meters along route # Maximum depth: 3163.765294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.902636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857559; longitude = -125.560394; captureRadius = 10; duration = 213; initialDepth = 3088.877992; finalDepth = 3085.902636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.5285039999999 # Actual altitude: 86.5285039999999 # Commanded vehicle depth: 3085.902636 # Seafloor depth: -3163.143958 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 346.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 346.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.582684 meters # Minimum depth: 3163.877992 meters looking forward 50.000000 meters along route # Maximum depth: 3167.063554 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.877992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858194; longitude = -125.559498; captureRadius = 10; duration = 213; initialDepth = 3092.181524; finalDepth = 3088.877992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2413220000003 # Actual altitude: 77.2413220000003 # Commanded vehicle depth: 3088.877992 # Seafloor depth: -3163.877992 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.97; 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 = 308.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 108.296017 meters # Minimum depth: 3167.181524 meters looking forward 50.000000 meters along route # Maximum depth: 3175.672667 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.181524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858829; longitude = -125.558602; captureRadius = 10; duration = 216; initialDepth = 3101.139709; finalDepth = 3092.181524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3092.181524 # Seafloor depth: -3167.181524 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 133.118091 meters # Minimum depth: 3176.139709 meters looking forward 50.000000 meters along route # Maximum depth: 3188.937151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.139709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859475; longitude = -125.557692; captureRadius = 10; duration = 266; # abortOnTimeout = True; initialDepth = 3114.439073; finalDepth = 3101.139709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3101.139709 # Seafloor depth: -3176.139709 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 110.204152 meters # Minimum depth: 3189.439073 meters looking forward 50.000000 meters along route # Maximum depth: 3191.893538 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.439073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858781; longitude = -125.556475; captureRadius = 10; duration = 220; initialDepth = 3115.478653; finalDepth = 3114.439073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3114.439073 # Seafloor depth: -3189.439073 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.223876 meters # Minimum depth: 3190.478653 meters looking forward 50.000000 meters along route # Maximum depth: 3192.417027 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3115.478653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858207; longitude = -125.555467; captureRadius = 10; duration = 200; initialDepth = 3116.300208; finalDepth = 3115.478653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3115.478653 # Seafloor depth: -3190.478653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 166.652152 meters # Minimum depth: 3191.300208 meters looking forward 50.000000 meters along route # Maximum depth: 3192.079237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3116.300208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857685; longitude = -125.554550; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 3114.942835; finalDepth = 3116.300208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.342126 # Actual altitude: 75.342126 # Commanded vehicle depth: 3116.300208 # Seafloor depth: -3191.642334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.37; 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 = 301.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 105.891458 meters # Minimum depth: 3189.942835 meters looking forward 50.000000 meters along route # Maximum depth: 3191.280676 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.942835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856724; longitude = -125.553115; captureRadius = 10; duration = 211; initialDepth = 3116.136933; finalDepth = 3114.942835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.337841 # Actual altitude: 76.337841 # Commanded vehicle depth: 3114.942835 # Seafloor depth: -3191.280676 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.179985 meters # Minimum depth: 3191.136933 meters looking forward 50.000000 meters along route # Maximum depth: 3199.732561 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3116.136933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856113; longitude = -125.552203; captureRadius = 10; duration = 204; initialDepth = 3125.182697; finalDepth = 3116.136933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.337841 # Actual altitude: 76.337841 # Commanded vehicle depth: 3116.136933 # Seafloor depth: -3191.136933 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 107.067896 meters # Minimum depth: 3200.182697 meters looking forward 50.000000 meters along route # Maximum depth: 3201.338652 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.182697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855524; longitude = -125.551323; captureRadius = 10; duration = 214; initialDepth = 3125.714052; finalDepth = 3125.182697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3125.182697 # Seafloor depth: -3200.182697 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 127.734783 meters # Minimum depth: 3200.714052 meters looking forward 50.000000 meters along route # Maximum depth: 3203.076173 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.714052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854906; longitude = -125.550401; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 3113.547197; finalDepth = 3125.714052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7288190000004 # Actual altitude: 75.7288190000004 # Commanded vehicle depth: 3125.714052 # Seafloor depth: -3201.442871 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 105.675720 meters # Minimum depth: 3188.547197 meters looking forward 50.000000 meters along route # Maximum depth: 3200.017071 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.547197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854220; longitude = -125.549251; captureRadius = 10; duration = 211; initialDepth = 3085.907864; finalDepth = 3113.547197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.4698740000003 # Actual altitude: 86.4698740000003 # Commanded vehicle depth: 3113.547197 # Seafloor depth: -3200.017071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 345.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.651398 meters # Minimum depth: 3160.907864 meters looking forward 50.000000 meters along route # Maximum depth: 3187.228095 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.907864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853653; longitude = -125.548299; captureRadius = 10; duration = 213; initialDepth = 3083.106797; finalDepth = 3085.907864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 101.320231 # Actual altitude: 100 # Commanded vehicle depth: 3085.907864 # Seafloor depth: -3187.228095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 123.807574 meters # Minimum depth: 3158.106797 meters looking forward 50.000000 meters along route # Maximum depth: 3160.643127 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.106797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853081; longitude = -125.547339; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 3079.876258; finalDepth = 3083.106797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.320231 # Actual altitude: 100 # Commanded vehicle depth: 3083.106797 # Seafloor depth: -3160.643127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 44 # Segment length 103.722958 meters # Minimum depth: 3154.876258 meters looking forward 50.000000 meters along route # Maximum depth: 3157.799607 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.876258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852328; longitude = -125.546315; captureRadius = 10; duration = 207; initialDepth = 3080.582721; finalDepth = 3079.876258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9233490000001 # Actual altitude: 77.9233490000001 # Commanded vehicle depth: 3079.876258 # Seafloor depth: -3157.799607 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.69; 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 = 311.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 103.723373 meters # Minimum depth: 3155.582721 meters looking forward 50.000000 meters along route # Maximum depth: 3158.167776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.582721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851697; longitude = -125.545457; captureRadius = 10; duration = 207; initialDepth = 3082.795844; finalDepth = 3080.582721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9233490000001 # Actual altitude: 77.9233490000001 # Commanded vehicle depth: 3080.582721 # Seafloor depth: -3155.582721 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.69; 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 = 311.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.021631 meters # Minimum depth: 3157.795844 meters looking forward 50.000000 meters along route # Maximum depth: 3158.608204 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.795844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851066; longitude = -125.544599; captureRadius = 10; duration = 202; initialDepth = 3081.038126; finalDepth = 3082.795844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.3824479999998 # Actual altitude: 75.3824479999998 # Commanded vehicle depth: 3082.795844 # Seafloor depth: -3158.178292 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.53; 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 43 # Segment length 97.374422 meters # Minimum depth: 3156.038126 meters looking forward 50.000000 meters along route # Maximum depth: 3157.696228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.038126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850452; longitude = -125.543764; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 3081.515517; finalDepth = 3081.038126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6581019999999 # Actual altitude: 76.6581019999999 # Commanded vehicle depth: 3081.038126 # Seafloor depth: -3157.696228 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 111.471189 meters # Minimum depth: 3156.515517 meters looking forward 50.000000 meters along route # Maximum depth: 3157.695065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.515517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851157; longitude = -125.543114; captureRadius = 10; duration = 222; initialDepth = 3081.497344; finalDepth = 3081.515517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.6581019999999 # Actual altitude: 76.6581019999999 # Commanded vehicle depth: 3081.515517 # Seafloor depth: -3156.515517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 113.246354 meters # Minimum depth: 3156.497344 meters looking forward 50.000000 meters along route # Maximum depth: 3158.401831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.497344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851963; longitude = -125.542369; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 3078.248016; finalDepth = 3081.497344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.063752 # Actual altitude: 75.063752 # Commanded vehicle depth: 3081.497344 # Seafloor depth: -3156.561096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 300.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 112.534431 meters # Minimum depth: 3153.248016 meters looking forward 50.000000 meters along route # Maximum depth: 3156.478164 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3078.248016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852688; longitude = -125.543262; captureRadius = 10; duration = 225; initialDepth = 3078.341972; finalDepth = 3078.248016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2301480000001 # Actual altitude: 78.2301480000001 # Commanded vehicle depth: 3078.248016 # Seafloor depth: -3156.478164 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.370018 meters # Minimum depth: 3153.341972 meters looking forward 50.000000 meters along route # Maximum depth: 3160.463397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3078.341972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853409; longitude = -125.544149; captureRadius = 10; duration = 200; initialDepth = 3085.583899; finalDepth = 3078.341972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2301480000001 # Actual altitude: 78.2301480000001 # Commanded vehicle depth: 3078.341972 # Seafloor depth: -3153.341972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.606213 meters # Minimum depth: 3160.583899 meters looking forward 50.000000 meters along route # Maximum depth: 3161.791762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3085.583899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854052; longitude = -125.544940; captureRadius = 10; duration = 211; initialDepth = 3086.909729; finalDepth = 3085.583899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3085.583899 # Seafloor depth: -3160.583899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 110.070102 meters # Minimum depth: 3161.909729 meters looking forward 50.000000 meters along route # Maximum depth: 3175.952484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.909729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854729; longitude = -125.545772; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 3101.485747; finalDepth = 3086.909729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3086.909729 # Seafloor depth: -3161.909729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 103.541454 meters # Minimum depth: 3176.485747 meters looking forward 50.000000 meters along route # Maximum depth: 3194.741430 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.485747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855221; longitude = -125.546843; captureRadius = 10; duration = 207; initialDepth = 3120.282404; finalDepth = 3101.485747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3101.485747 # Seafloor depth: -3176.485747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.856564 meters # Minimum depth: 3195.282404 meters looking forward 50.000000 meters along route # Maximum depth: 3200.223513 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3120.282404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855684; longitude = -125.547851; captureRadius = 10; duration = 217; initialDepth = 3119.594347; finalDepth = 3120.282404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3120.282404 # Seafloor depth: -3195.282404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 96.909616 meters # Minimum depth: 3194.594347 meters looking forward 50.000000 meters along route # Maximum depth: 3199.317322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.594347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856170; longitude = -125.548911; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 3119.394704; finalDepth = 3119.594347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7229749999997 # Actual altitude: 79.7229749999997 # Commanded vehicle depth: 3119.594347 # Seafloor depth: -3199.317322 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 318.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.849257 meters # Minimum depth: 3194.394704 meters looking forward 50.000000 meters along route # Maximum depth: 3199.765247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.394704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856720; longitude = -125.549755; captureRadius = 10; duration = 205; initialDepth = 3119.528293; finalDepth = 3119.394704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7229749999997 # Actual altitude: 79.7229749999997 # Commanded vehicle depth: 3119.394704 # Seafloor depth: -3194.394704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 318.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.848833 meters # Minimum depth: 3194.528293 meters looking forward 50.000000 meters along route # Maximum depth: 3199.968496 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.528293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857303; longitude = -125.550651; captureRadius = 10; duration = 205; initialDepth = 3117.886603; finalDepth = 3119.528293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4402030000001 # Actual altitude: 80.4402030000001 # Commanded vehicle depth: 3119.528293 # Seafloor depth: -3199.968496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 321.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.848411 meters # Minimum depth: 3192.886603 meters looking forward 50.000000 meters along route # Maximum depth: 3194.462268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3117.886603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857886; longitude = -125.551547; captureRadius = 10; duration = 205; initialDepth = 3114.193771; finalDepth = 3117.886603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4402030000001 # Actual altitude: 80.4402030000001 # Commanded vehicle depth: 3117.886603 # Seafloor depth: -3194.462268 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 321.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.737840 meters # Minimum depth: 3189.193771 meters looking forward 50.000000 meters along route # Maximum depth: 3193.267440 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.193771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858469; longitude = -125.552443; captureRadius = 10; duration = 211; initialDepth = 3109.030610; finalDepth = 3114.193771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.9638839999998 # Actual altitude: 78.9638839999998 # Commanded vehicle depth: 3114.193771 # Seafloor depth: -3193.157655 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 135.771195 meters # Minimum depth: 3184.030610 meters looking forward 50.000000 meters along route # Maximum depth: 3188.869568 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.030610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859069; longitude = -125.553364; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 3104.333275; finalDepth = 3109.030610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8389580000003 # Actual altitude: 79.8389580000003 # Commanded vehicle depth: 3109.03061 # Seafloor depth: -3188.869568 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.36; 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 = 319.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.802125 meters # Minimum depth: 3179.333275 meters looking forward 50.000000 meters along route # Maximum depth: 3185.490290 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.333275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859815; longitude = -125.554571; captureRadius = 10; duration = 201; initialDepth = 3103.009840; finalDepth = 3104.333275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1570150000002 # Actual altitude: 81.1570150000002 # Commanded vehicle depth: 3104.333275 # Seafloor depth: -3185.490290 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.801716 meters # Minimum depth: 3178.009840 meters looking forward 50.000000 meters along route # Maximum depth: 3179.102460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3103.009840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860368; longitude = -125.555467; captureRadius = 10; duration = 201; initialDepth = 3097.739097; finalDepth = 3103.009840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1570150000002 # Actual altitude: 81.1570150000002 # Commanded vehicle depth: 3103.00984 # Seafloor depth: -3179.102460 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.413181 meters # Minimum depth: 3172.739097 meters looking forward 50.000000 meters along route # Maximum depth: 3177.879086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3097.739097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860922; longitude = -125.556363; captureRadius = 10; duration = 200; initialDepth = 3089.594642; finalDepth = 3097.739097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.1399889999998 # Actual altitude: 80.1399889999998 # Commanded vehicle depth: 3097.739097 # Seafloor depth: -3177.879086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 168.315467 meters # Minimum depth: 3164.594642 meters looking forward 50.000000 meters along route # Maximum depth: 3171.823669 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3089.594642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861473; longitude = -125.557255; captureRadius = 10; duration = 336; # abortOnTimeout = True; initialDepth = 3080.714714; finalDepth = 3089.594642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2290269999999 # Actual altitude: 82.2290269999999 # Commanded vehicle depth: 3089.594642 # Seafloor depth: -3171.823669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.782958 meters # Minimum depth: 3155.714714 meters looking forward 50.000000 meters along route # Maximum depth: 3164.688297 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.714714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860788; longitude = -125.558938; captureRadius = 10; duration = 201; initialDepth = 3072.985021; finalDepth = 3080.714714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.973583 # Actual altitude: 83.973583 # Commanded vehicle depth: 3080.714714 # Seafloor depth: -3164.688297 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.973909 meters # Minimum depth: 3147.985021 meters looking forward 50.000000 meters along route # Maximum depth: 3154.562478 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3072.985021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860377; longitude = -125.559946; captureRadius = 10; duration = 203; initialDepth = 3065.030804; finalDepth = 3072.985021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.973583 # Actual altitude: 83.973583 # Commanded vehicle depth: 3072.985021 # Seafloor depth: -3154.562478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 98.653520 meters # Minimum depth: 3140.030804 meters looking forward 50.000000 meters along route # Maximum depth: 3147.304993 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3065.030804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859962; longitude = -125.560966; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 3063.404101; finalDepth = 3065.030804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2741890000002 # Actual altitude: 82.2741890000002 # Commanded vehicle depth: 3065.030804 # Seafloor depth: -3147.304993 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.175322 meters # Minimum depth: 3138.404101 meters looking forward 50.000000 meters along route # Maximum depth: 3139.862945 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3063.404101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859326; longitude = -125.561738; captureRadius = 10; duration = 200; initialDepth = 3063.889047; finalDepth = 3063.404101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2741890000002 # Actual altitude: 82.2741890000002 # Commanded vehicle depth: 3063.404101 # Seafloor depth: -3139.862945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.468553 meters # Minimum depth: 3138.889047 meters looking forward 50.000000 meters along route # Maximum depth: 3140.208525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3063.889047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858679; longitude = -125.562522; captureRadius = 10; duration = 208; initialDepth = 3056.202734; finalDepth = 3063.889047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4588439999998 # Actual altitude: 76.4588439999998 # Commanded vehicle depth: 3063.889047 # Seafloor depth: -3138.889047 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.682643 meters # Minimum depth: 3131.202734 meters looking forward 50.000000 meters along route # Maximum depth: 3139.921654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3056.202734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858005; longitude = -125.563339; captureRadius = 10; duration = 205; initialDepth = 3049.418538; finalDepth = 3056.202734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.7189200000003 # Actual altitude: 83.7189200000003 # Commanded vehicle depth: 3056.202734 # Seafloor depth: -3139.921654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 334.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 334.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 143.206026 meters # Minimum depth: 3124.418538 meters looking forward 50.000000 meters along route # Maximum depth: 3133.268614 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3049.418538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857343; longitude = -125.564143; captureRadius = 10; duration = 286; # abortOnTimeout = True; initialDepth = 3058.434745; finalDepth = 3049.418538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7189200000003 # Actual altitude: 83.7189200000003 # Commanded vehicle depth: 3049.418538 # Seafloor depth: -3131.130920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 334.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 334.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.411332 meters # Minimum depth: 3133.434745 meters looking forward 50.000000 meters along route # Maximum depth: 3149.690745 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3058.434745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856379; longitude = -125.565210; captureRadius = 10; duration = 212; initialDepth = 3064.811042; finalDepth = 3058.434745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7123820000002 # Actual altitude: 81.7123820000002 # Commanded vehicle depth: 3058.434745 # Seafloor depth: -3133.434745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.85; 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 = 326.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 110.854320 meters # Minimum depth: 3139.811042 meters looking forward 50.000000 meters along route # Maximum depth: 3146.854238 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3064.811042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855662; longitude = -125.566002; captureRadius = 10; duration = 221; initialDepth = 3068.448537; finalDepth = 3064.811042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.0431960000001 # Actual altitude: 82.0431960000001 # Commanded vehicle depth: 3064.811042 # Seafloor depth: -3146.854238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 97.940770 meters # Minimum depth: 3143.448537 meters looking forward 50.000000 meters along route # Maximum depth: 3146.074569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3068.448537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854916; longitude = -125.566828; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 3063.404433; finalDepth = 3068.448537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0431960000001 # Actual altitude: 82.0431960000001 # Commanded vehicle depth: 3068.448537 # Seafloor depth: -3144.626160 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 102.054303 meters # Minimum depth: 3138.404433 meters looking forward 50.000000 meters along route # Maximum depth: 3146.791383 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3063.404433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854311; longitude = -125.567627; captureRadius = 10; duration = 204; initialDepth = 3060.428712; finalDepth = 3063.404433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3869500000001 # Actual altitude: 83.3869500000001 # Commanded vehicle depth: 3063.404433 # Seafloor depth: -3146.791383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.054786 meters # Minimum depth: 3135.428712 meters looking forward 50.000000 meters along route # Maximum depth: 3138.459508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3060.428712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853680; longitude = -125.568459; captureRadius = 10; duration = 204; initialDepth = 3060.016774; finalDepth = 3060.428712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3869500000001 # Actual altitude: 83.3869500000001 # Commanded vehicle depth: 3060.428712 # Seafloor depth: -3138.383148 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.726293 meters # Minimum depth: 3135.016774 meters looking forward 50.000000 meters along route # Maximum depth: 3141.719529 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3060.016774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853049; longitude = -125.569291; captureRadius = 10; duration = 207; initialDepth = 3039.248466; finalDepth = 3060.016774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0285260000001 # Actual altitude: 79.0285260000001 # Commanded vehicle depth: 3060.016774 # Seafloor depth: -3139.045300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.834511 meters # Minimum depth: 3114.248466 meters looking forward 50.000000 meters along route # Maximum depth: 3134.677807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3039.248466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852408; longitude = -125.570137; captureRadius = 10; duration = 207; initialDepth = 3033.515012; finalDepth = 3039.248466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 95.429341 # Actual altitude: 95.429341 # Commanded vehicle depth: 3039.248466 # Seafloor depth: -3134.677807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 115.536185 meters # Minimum depth: 3108.515012 meters looking forward 50.000000 meters along route # Maximum depth: 3113.575317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3033.515012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851766; longitude = -125.570984; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 3028.235977; finalDepth = 3033.515012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.429341 # Actual altitude: 95.429341 # Commanded vehicle depth: 3033.515012 # Seafloor depth: -3113.575317 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.437543 meters # Minimum depth: 3103.235977 meters looking forward 50.000000 meters along route # Maximum depth: 3108.344638 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3028.235977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851054; longitude = -125.571929; captureRadius = 10; duration = 200; initialDepth = 3029.669018; finalDepth = 3028.235977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1086610000002 # Actual altitude: 80.1086610000002 # Commanded vehicle depth: 3028.235977 # Seafloor depth: -3108.344638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 320.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.403873 meters # Minimum depth: 3104.669018 meters looking forward 50.000000 meters along route # Maximum depth: 3109.801119 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3029.669018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850436; longitude = -125.572751; captureRadius = 10; duration = 204; initialDepth = 3035.328282; finalDepth = 3029.669018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1086610000002 # Actual altitude: 80.1086610000002 # Commanded vehicle depth: 3029.669018 # Seafloor depth: -3104.669018 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 320.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.404359 meters # Minimum depth: 3110.328282 meters looking forward 50.000000 meters along route # Maximum depth: 3111.977408 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3035.328282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849805; longitude = -125.573588; captureRadius = 10; duration = 204; initialDepth = 3035.584944; finalDepth = 3035.328282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3035.328282 # Seafloor depth: -3110.328282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 109.077856 meters # Minimum depth: 3110.584944 meters looking forward 50.000000 meters along route # Maximum depth: 3111.214568 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3035.584944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849174; longitude = -125.574426; captureRadius = 10; duration = 218; initialDepth = 3035.872681; finalDepth = 3035.584944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.0895389999996 # Actual altitude: 75.0895389999996 # Commanded vehicle depth: 3035.584944 # Seafloor depth: -3110.674483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.36; 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 = 300.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 77.092144 meters # Minimum depth: 3110.872681 meters looking forward 50.000000 meters along route # Maximum depth: 3112.433131 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3035.872681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848502; longitude = -125.575318; captureRadius = 10; duration = 154; # abortOnTimeout = True; initialDepth = 3036.366947; finalDepth = 3035.872681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0895389999996 # Actual altitude: 75.0895389999996 # Commanded vehicle depth: 3035.872681 # Seafloor depth: -3110.872681 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.36; 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 = 300.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 102.191950 meters # Minimum depth: 3111.366947 meters looking forward 50.000000 meters along route # Maximum depth: 3112.423224 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3036.366947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847822; longitude = -125.575495; captureRadius = 10; duration = 204; initialDepth = 3032.340944; finalDepth = 3036.366947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0562770000001 # Actual altitude: 76.0562770000001 # Commanded vehicle depth: 3036.366947 # Seafloor depth: -3112.423224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.192000 meters # Minimum depth: 3107.340944 meters looking forward 50.000000 meters along route # Maximum depth: 3111.503506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3032.340944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846921; longitude = -125.575729; captureRadius = 10; duration = 204; initialDepth = 3031.986265; finalDepth = 3032.340944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.162562 # Actual altitude: 79.162562 # Commanded vehicle depth: 3032.340944 # Seafloor depth: -3111.503506 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.192048 meters # Minimum depth: 3106.986265 meters looking forward 50.000000 meters along route # Maximum depth: 3109.251126 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3031.986265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846020; longitude = -125.575963; captureRadius = 10; duration = 204; initialDepth = 3034.625837; finalDepth = 3031.986265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.162562 # Actual altitude: 79.162562 # Commanded vehicle depth: 3031.986265 # Seafloor depth: -3107.278120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.669406 meters # Minimum depth: 3109.625837 meters looking forward 50.000000 meters along route # Maximum depth: 3111.408159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3034.625837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845119; longitude = -125.576197; captureRadius = 10; duration = 213; initialDepth = 3036.382874; finalDepth = 3034.625837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.2918549999999 # Actual altitude: 75.2918549999999 # Commanded vehicle depth: 3034.625837 # Seafloor depth: -3109.625837 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 301.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 135.872759 meters # Minimum depth: 3111.382874 meters looking forward 50.000000 meters along route # Maximum depth: 3115.164207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3036.382874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844178; longitude = -125.576442; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 3040.983166; finalDepth = 3036.382874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3036.382874 # Seafloor depth: -3111.382874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.187301 meters # Minimum depth: 3115.983166 meters looking forward 50.000000 meters along route # Maximum depth: 3123.328072 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3040.983166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842956; longitude = -125.576527; captureRadius = 10; duration = 200; initialDepth = 3049.361873; finalDepth = 3040.983166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3040.983166 # Seafloor depth: -3115.983166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.187294 meters # Minimum depth: 3124.361873 meters looking forward 50.000000 meters along route # Maximum depth: 3132.280304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3049.361873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842055; longitude = -125.576589; captureRadius = 10; duration = 200; initialDepth = 3057.749171; finalDepth = 3049.361873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3049.361873 # Seafloor depth: -3124.361873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.187287 meters # Minimum depth: 3132.749171 meters looking forward 50.000000 meters along route # Maximum depth: 3136.228817 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3057.749171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841153; longitude = -125.576652; captureRadius = 10; duration = 200; initialDepth = 3062.134715; finalDepth = 3057.749171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3057.749171 # Seafloor depth: -3132.749171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.187280 meters # Minimum depth: 3137.134715 meters looking forward 50.000000 meters along route # Maximum depth: 3144.594363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3062.134715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840252; longitude = -125.576714; captureRadius = 10; duration = 200; initialDepth = 3070.087721; finalDepth = 3062.134715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3062.134715 # Seafloor depth: -3137.134715 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.296779 meters # Minimum depth: 3145.087721 meters looking forward 50.000000 meters along route # Maximum depth: 3148.337905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3070.087721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839351; longitude = -125.576776; captureRadius = 10; duration = 200; initialDepth = 3073.742432; finalDepth = 3070.087721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3070.087721 # Seafloor depth: -3145.087721 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 90.020384 meters # Minimum depth: 3148.742432 meters looking forward 50.000000 meters along route # Maximum depth: 3151.452670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.742432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838449; longitude = -125.576839; captureRadius = 10; duration = 180; # abortOnTimeout = True; initialDepth = 3067.841968; finalDepth = 3073.742432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3073.742432 # Seafloor depth: -3148.742432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.144261 meters # Minimum depth: 3142.841968 meters looking forward 50.000000 meters along route # Maximum depth: 3151.235394 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3067.841968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837639; longitude = -125.576887; captureRadius = 10; duration = 200; initialDepth = 3065.854922; finalDepth = 3067.841968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3934259999996 # Actual altitude: 83.3934259999996 # Commanded vehicle depth: 3067.841968 # Seafloor depth: -3151.235394 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.144253 meters # Minimum depth: 3140.854922 meters looking forward 50.000000 meters along route # Maximum depth: 3142.440800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3065.854922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836738; longitude = -125.576940; captureRadius = 10; duration = 200; initialDepth = 3062.900631; finalDepth = 3065.854922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3934259999996 # Actual altitude: 83.3934259999996 # Commanded vehicle depth: 3065.854922 # Seafloor depth: -3141.997904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 333.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.144244 meters # Minimum depth: 3137.900631 meters looking forward 50.000000 meters along route # Maximum depth: 3139.745741 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3062.900631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835837; longitude = -125.576993; captureRadius = 10; duration = 200; initialDepth = 3061.350555; finalDepth = 3062.900631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8451100000002 # Actual altitude: 76.8451100000002 # Commanded vehicle depth: 3062.900631 # Seafloor depth: -3139.745741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.060282 meters # Minimum depth: 3136.350555 meters looking forward 50.000000 meters along route # Maximum depth: 3138.864984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3061.350555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834935; longitude = -125.577046; captureRadius = 10; duration = 200; initialDepth = 3062.236694; finalDepth = 3061.350555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.5144289999998 # Actual altitude: 77.5144289999998 # Commanded vehicle depth: 3061.350555 # Seafloor depth: -3138.864984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 310.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 82.588078 meters # Minimum depth: 3137.236694 meters looking forward 50.000000 meters along route # Maximum depth: 3139.460066 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3062.236694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834035; longitude = -125.577099; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 3064.397849; finalDepth = 3062.236694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5144289999998 # Actual altitude: 77.5144289999998 # Commanded vehicle depth: 3062.236694 # Seafloor depth: -3137.236694 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 310.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.127095 meters # Minimum depth: 3139.397849 meters looking forward 50.000000 meters along route # Maximum depth: 3140.354818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3064.397849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833313; longitude = -125.577324; captureRadius = 10; duration = 206; initialDepth = 3058.789771; finalDepth = 3064.397849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1590860000001 # Actual altitude: 75.1590860000001 # Commanded vehicle depth: 3064.397849 # Seafloor depth: -3139.556935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.64; 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 = 300.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.127167 meters # Minimum depth: 3133.789771 meters looking forward 50.000000 meters along route # Maximum depth: 3138.734476 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3058.789771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832412; longitude = -125.577605; captureRadius = 10; duration = 206; initialDepth = 3053.760210; finalDepth = 3058.789771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9447049999999 # Actual altitude: 79.9447049999999 # Commanded vehicle depth: 3058.789771 # Seafloor depth: -3138.734476 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 319.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.615842 meters # Minimum depth: 3128.760210 meters looking forward 50.000000 meters along route # Maximum depth: 3133.570622 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3053.760210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831511; longitude = -125.577886; captureRadius = 10; duration = 203; initialDepth = 3051.706848; finalDepth = 3053.760210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.9447049999999 # Actual altitude: 79.9447049999999 # Commanded vehicle depth: 3053.76021 # Seafloor depth: -3133.570622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 319.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 78.958247 meters # Minimum depth: 3126.706848 meters looking forward 50.000000 meters along route # Maximum depth: 3128.276123 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3051.706848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830623; longitude = -125.578163; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 3048.253921; finalDepth = 3051.706848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8104120000003 # Actual altitude: 79.8104120000003 # Commanded vehicle depth: 3051.706848 # Seafloor depth: -3128.276123 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.244875 meters # Minimum depth: 3123.253921 meters looking forward 50.000000 meters along route # Maximum depth: 3126.630053 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3048.253921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829953; longitude = -125.577864; captureRadius = 10; duration = 206; initialDepth = 3050.359636; finalDepth = 3048.253921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3761319999999 # Actual altitude: 78.3761319999999 # Commanded vehicle depth: 3048.253921 # Seafloor depth: -3126.630053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.917051 meters # Minimum depth: 3125.359636 meters looking forward 50.000000 meters along route # Maximum depth: 3130.211137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3050.359636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829078; longitude = -125.577474; captureRadius = 10; duration = 205; initialDepth = 3054.528625; finalDepth = 3050.359636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.3761319999999 # Actual altitude: 78.3761319999999 # Commanded vehicle depth: 3050.359636 # Seafloor depth: -3125.359636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 313.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 147.045759 meters # Minimum depth: 3129.528625 meters looking forward 50.000000 meters along route # Maximum depth: 3141.901833 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3054.528625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828205; longitude = -125.577085; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 3066.989530; finalDepth = 3054.528625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3054.528625 # Seafloor depth: -3129.528625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 107.918366 meters # Minimum depth: 3141.989530 meters looking forward 50.000000 meters along route # Maximum depth: 3148.044406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3066.989530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827456; longitude = -125.575726; captureRadius = 10; duration = 215; initialDepth = 3073.204242; finalDepth = 3066.989530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3066.98953 # Seafloor depth: -3141.989530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 109.064528 meters # Minimum depth: 3148.204242 meters looking forward 50.000000 meters along route # Maximum depth: 3153.816393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3073.204242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826906; longitude = -125.574729; captureRadius = 10; duration = 218; initialDepth = 3079.007861; finalDepth = 3073.204242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3073.204242 # Seafloor depth: -3148.204242 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 110.684318 meters # Minimum depth: 3154.007861 meters looking forward 50.000000 meters along route # Maximum depth: 3159.008446 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.007861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826350; longitude = -125.573721; captureRadius = 10; duration = 221; initialDepth = 3080.149439; finalDepth = 3079.007861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3079.007861 # Seafloor depth: -3154.007861 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 102.891308 meters # Minimum depth: 3155.149439 meters looking forward 50.000000 meters along route # Maximum depth: 3158.623291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.149439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825786; longitude = -125.572698; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 3080.099463; finalDepth = 3080.149439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4738520000001 # Actual altitude: 78.4738520000001 # Commanded vehicle depth: 3080.149439 # Seafloor depth: -3158.623291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.638767 meters # Minimum depth: 3155.099463 meters looking forward 50.000000 meters along route # Maximum depth: 3161.663686 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.099463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825563; longitude = -125.571579; captureRadius = 10; duration = 203; initialDepth = 3088.715867; finalDepth = 3080.099463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4738520000001 # Actual altitude: 78.4738520000001 # Commanded vehicle depth: 3080.099463 # Seafloor depth: -3155.099463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.953223 meters # Minimum depth: 3163.715867 meters looking forward 50.000000 meters along route # Maximum depth: 3167.734088 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.715867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825343; longitude = -125.570473; captureRadius = 10; duration = 205; initialDepth = 3093.033262; finalDepth = 3088.715867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3088.715867 # Seafloor depth: -3163.715867 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.953447 meters # Minimum depth: 3168.033262 meters looking forward 50.000000 meters along route # Maximum depth: 3178.395907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3093.033262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825120; longitude = -125.569353; captureRadius = 10; duration = 205; initialDepth = 3105.278346; finalDepth = 3093.033262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3093.033262 # Seafloor depth: -3168.033262 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.482036 meters # Minimum depth: 3180.278346 meters looking forward 50.000000 meters along route # Maximum depth: 3185.105352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.278346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824897; longitude = -125.568233; captureRadius = 10; duration = 210; initialDepth = 3109.006348; finalDepth = 3105.278346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3105.278346 # Seafloor depth: -3180.278346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 177.448690 meters # Minimum depth: 3184.006348 meters looking forward 50.000000 meters along route # Maximum depth: 3188.307251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.006348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824669; longitude = -125.567086; captureRadius = 10; duration = 354; # abortOnTimeout = True; initialDepth = 3109.822660; finalDepth = 3109.006348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3109.006348 # Seafloor depth: -3184.006348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.940779 meters # Minimum depth: 3184.822660 meters looking forward 50.000000 meters along route # Maximum depth: 3188.039540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3109.822660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824647; longitude = -125.565098; captureRadius = 10; duration = 219; initialDepth = 3108.519395; finalDepth = 3109.822660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2168800000004 # Actual altitude: 78.2168800000004 # Commanded vehicle depth: 3109.82266 # Seafloor depth: -3188.039540 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 109.220788 meters # Minimum depth: 3183.519395 meters looking forward 50.000000 meters along route # Maximum depth: 3184.587196 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.519395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824633; longitude = -125.563866; captureRadius = 10; duration = 218; initialDepth = 3099.529060; finalDepth = 3108.519395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.2168800000004 # Actual altitude: 78.2168800000004 # Commanded vehicle depth: 3108.519395 # Seafloor depth: -3184.529370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 115.702722 meters # Minimum depth: 3174.529060 meters looking forward 50.000000 meters along route # Maximum depth: 3184.509155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.529060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824619; longitude = -125.562642; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 3101.502425; finalDepth = 3099.529060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.9800950000003 # Actual altitude: 84.9800950000003 # Commanded vehicle depth: 3099.52906 # Seafloor depth: -3184.509155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 339.92; 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 = 339.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.030692 meters # Minimum depth: 3176.502425 meters looking forward 50.000000 meters along route # Maximum depth: 3183.142683 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.502425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823971; longitude = -125.561626; captureRadius = 10; duration = 204; initialDepth = 3108.143407; finalDepth = 3101.502425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.9800950000003 # Actual altitude: 84.9800950000003 # Commanded vehicle depth: 3101.502425 # Seafloor depth: -3176.502425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 339.92; 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 = 339.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.031109 meters # Minimum depth: 3183.143407 meters looking forward 50.000000 meters along route # Maximum depth: 3188.446637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3108.143407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823400; longitude = -125.560730; captureRadius = 10; duration = 204; initialDepth = 3114.151139; finalDepth = 3108.143407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3108.143407 # Seafloor depth: -3183.143407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.064350 meters # Minimum depth: 3189.151139 meters looking forward 50.000000 meters along route # Maximum depth: 3205.393488 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3114.151139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822829; longitude = -125.559834; captureRadius = 10; duration = 204; initialDepth = 3130.102478; finalDepth = 3114.151139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3114.151139 # Seafloor depth: -3189.151139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 169.132558 meters # Minimum depth: 3205.102478 meters looking forward 50.000000 meters along route # Maximum depth: 3209.203303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3130.102478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822258; longitude = -125.558938; captureRadius = 10; duration = 338; # abortOnTimeout = True; initialDepth = 3131.531186; finalDepth = 3130.102478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3130.102478 # Seafloor depth: -3205.102478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 108.748671 meters # Minimum depth: 3206.531186 meters looking forward 50.000000 meters along route # Maximum depth: 3207.831776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3131.531186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821402; longitude = -125.557370; captureRadius = 10; duration = 217; initialDepth = 3132.903312; finalDepth = 3131.531186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3005899999998 # Actual altitude: 76.3005899999998 # Commanded vehicle depth: 3131.531186 # Seafloor depth: -3207.831776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.614863 meters # Minimum depth: 3207.903312 meters looking forward 50.000000 meters along route # Maximum depth: 3210.177058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3132.903312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820851; longitude = -125.556363; captureRadius = 10; duration = 203; initialDepth = 3127.415392; finalDepth = 3132.903312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3005899999998 # Actual altitude: 76.3005899999998 # Commanded vehicle depth: 3132.903312 # Seafloor depth: -3207.903312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.786346 meters # Minimum depth: 3202.415392 meters looking forward 50.000000 meters along route # Maximum depth: 3209.751448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3127.415392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820336; longitude = -125.555421; captureRadius = 10; duration = 213; initialDepth = 3124.083390; finalDepth = 3127.415392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3360560000001 # Actual altitude: 82.3360560000001 # Commanded vehicle depth: 3127.415392 # Seafloor depth: -3209.751448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.209411 meters # Minimum depth: 3199.083390 meters looking forward 50.000000 meters along route # Maximum depth: 3202.271537 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3124.083390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819796; longitude = -125.554431; captureRadius = 10; duration = 208; initialDepth = 3105.472493; finalDepth = 3124.083390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.3360560000001 # Actual altitude: 82.3360560000001 # Commanded vehicle depth: 3124.08339 # Seafloor depth: -3202.271537 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.34; 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 154.611577 meters # Minimum depth: 3180.472493 meters looking forward 50.000000 meters along route # Maximum depth: 3199.390686 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3105.472493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819268; longitude = -125.553465; captureRadius = 10; duration = 309; # abortOnTimeout = True; initialDepth = 3098.051893; finalDepth = 3105.472493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.918193 # Actual altitude: 93.918193 # Commanded vehicle depth: 3105.472493 # Seafloor depth: -3199.390686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.101498 meters # Minimum depth: 3173.051893 meters looking forward 50.000000 meters along route # Maximum depth: 3180.568448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.051893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817903; longitude = -125.553811; captureRadius = 10; duration = 220; initialDepth = 3092.481044; finalDepth = 3098.051893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 93.918193 # Actual altitude: 93.918193 # Commanded vehicle depth: 3098.051893 # Seafloor depth: -3180.568448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 97.943780 meters # Minimum depth: 3167.481044 meters looking forward 50.000000 meters along route # Maximum depth: 3172.469360 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3092.481044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816931; longitude = -125.554058; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 3090.008531; finalDepth = 3092.481044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5165550000002 # Actual altitude: 82.5165550000002 # Commanded vehicle depth: 3092.481044 # Seafloor depth: -3172.469360 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.07; 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 = 330.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.285987 meters # Minimum depth: 3165.008531 meters looking forward 50.000000 meters along route # Maximum depth: 3167.131344 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.008531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816101; longitude = -125.554429; captureRadius = 10; duration = 212; initialDepth = 3086.945181; finalDepth = 3090.008531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9883159999999 # Actual altitude: 79.9883159999999 # Commanded vehicle depth: 3090.008531 # Seafloor depth: -3167.131344 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 319.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.609063 meters # Minimum depth: 3161.945181 meters looking forward 50.000000 meters along route # Maximum depth: 3164.525943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.945181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815200; longitude = -125.554831; captureRadius = 10; duration = 209; initialDepth = 3087.594238; finalDepth = 3086.945181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.580762 # Actual altitude: 77.580762 # Commanded vehicle depth: 3086.945181 # Seafloor depth: -3164.525943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.32; 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 138.596353 meters # Minimum depth: 3162.594238 meters looking forward 50.000000 meters along route # Maximum depth: 3165.330111 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3087.594238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814313; longitude = -125.555227; captureRadius = 10; duration = 277; # abortOnTimeout = True; initialDepth = 3083.224990; finalDepth = 3087.594238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.580762 # Actual altitude: 77.580762 # Commanded vehicle depth: 3087.594238 # Seafloor depth: -3162.594238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 310.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.317509 meters # Minimum depth: 3158.224990 meters looking forward 50.000000 meters along route # Maximum depth: 3164.453741 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.224990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814289; longitude = -125.553675; captureRadius = 10; duration = 216; initialDepth = 3083.169250; finalDepth = 3083.224990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 81.2287509999996 # Actual altitude: 81.2287509999996 # Commanded vehicle depth: 3083.22499 # Seafloor depth: -3164.453741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 324.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 172.607484 meters # Minimum depth: 3158.169250 meters looking forward 50.000000 meters along route # Maximum depth: 3172.778055 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.169250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814271; longitude = -125.552461; captureRadius = 10; duration = 345; # abortOnTimeout = True; initialDepth = 3098.351897; finalDepth = 3083.169250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2287509999996 # Actual altitude: 81.2287509999996 # Commanded vehicle depth: 3083.16925 # Seafloor depth: -3158.169250 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 324.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 102.963197 meters # Minimum depth: 3173.351897 meters looking forward 50.000000 meters along route # Maximum depth: 3177.454574 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.351897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815740; longitude = -125.551828; captureRadius = 10; duration = 205; initialDepth = 3102.613037; finalDepth = 3098.351897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3098.351897 # Seafloor depth: -3173.351897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 109.777337 meters # Minimum depth: 3177.613037 meters looking forward 50.000000 meters along route # Maximum depth: 3179.091879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.613037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816617; longitude = -125.551450; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 3104.183113; finalDepth = 3102.613037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3102.613037 # Seafloor depth: -3177.613037 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.050305 meters # Minimum depth: 3179.183113 meters looking forward 50.000000 meters along route # Maximum depth: 3193.675293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.183113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817565; longitude = -125.551099; captureRadius = 10; duration = 210; initialDepth = 3119.706683; finalDepth = 3104.183113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3104.183113 # Seafloor depth: -3179.183113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.050199 meters # Minimum depth: 3194.706683 meters looking forward 50.000000 meters along route # Maximum depth: 3225.090260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3119.706683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818472; longitude = -125.550763; captureRadius = 10; duration = 210; initialDepth = 3150.779978; finalDepth = 3119.706683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3119.706683 # Seafloor depth: -3194.706683 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.858663 meters # Minimum depth: 3225.779978 meters looking forward 50.000000 meters along route # Maximum depth: 3232.537920 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3150.779978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819379; longitude = -125.550427; captureRadius = 10; duration = 201; initialDepth = 3150.799744; finalDepth = 3150.779978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3150.779978 # Seafloor depth: -3225.779978 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 113.252514 meters # Minimum depth: 3225.799744 meters looking forward 50.000000 meters along route # Maximum depth: 3241.716822 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3150.799744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820250; longitude = -125.550105; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 3168.886740; finalDepth = 3150.799744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3150.799744 # Seafloor depth: -3225.799744 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.886667 meters # Minimum depth: 3243.886740 meters looking forward 50.000000 meters along route # Maximum depth: 3260.478207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3168.886740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820053; longitude = -125.548859; captureRadius = 10; duration = 217; initialDepth = 3158.759487; finalDepth = 3168.886740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3168.88674 # Seafloor depth: -3243.886740 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 164.763344 meters # Minimum depth: 3233.759487 meters looking forward 50.000000 meters along route # Maximum depth: 3260.171204 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3158.759487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819864; longitude = -125.547662; captureRadius = 10; duration = 329; # abortOnTimeout = True; initialDepth = 3143.306362; finalDepth = 3158.759487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.411717 # Actual altitude: 100 # Commanded vehicle depth: 3158.759487 # Seafloor depth: -3260.171204 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.549422 meters # Minimum depth: 3218.306362 meters looking forward 50.000000 meters along route # Maximum depth: 3233.059137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3143.306362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818444; longitude = -125.548199; captureRadius = 10; duration = 209; initialDepth = 3118.416015; finalDepth = 3143.306362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.411717 # Actual altitude: 100 # Commanded vehicle depth: 3143.306362 # Seafloor depth: -3233.059137 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.871381 meters # Minimum depth: 3193.416015 meters looking forward 50.000000 meters along route # Maximum depth: 3217.170151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.416015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817543; longitude = -125.548540; captureRadius = 10; duration = 217; initialDepth = 3100.192912; finalDepth = 3118.416015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 98.754136 # Actual altitude: 98.754136 # Commanded vehicle depth: 3118.416015 # Seafloor depth: -3217.170151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 137.666332 meters # Minimum depth: 3175.192912 meters looking forward 50.000000 meters along route # Maximum depth: 3192.277527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3100.192912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816604; longitude = -125.548894; captureRadius = 10; duration = 275; # abortOnTimeout = True; initialDepth = 3099.073899; finalDepth = 3100.192912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.754136 # Actual altitude: 98.754136 # Commanded vehicle depth: 3100.192912 # Seafloor depth: -3192.277527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.324946 meters # Minimum depth: 3174.073899 meters looking forward 50.000000 meters along route # Maximum depth: 3175.025545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.073899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815380; longitude = -125.549140; captureRadius = 10; duration = 202; initialDepth = 3097.896647; finalDepth = 3099.073899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.0846150000002 # Actual altitude: 92.0846150000002 # Commanded vehicle depth: 3099.073899 # Seafloor depth: -3175.025545 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.309936 meters # Minimum depth: 3172.896647 meters looking forward 50.000000 meters along route # Maximum depth: 3173.840050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3097.896647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814479; longitude = -125.549321; captureRadius = 10; duration = 206; initialDepth = 3098.674171; finalDepth = 3097.896647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.951646 # Actual altitude: 75.951646 # Commanded vehicle depth: 3097.896647 # Seafloor depth: -3173.840050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.81; 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 = 303.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 82.587462 meters # Minimum depth: 3173.674171 meters looking forward 50.000000 meters along route # Maximum depth: 3174.660217 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3098.674171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813560; longitude = -125.549505; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 3096.236519; finalDepth = 3098.674171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9434029999998 # Actual altitude: 75.9434029999998 # Commanded vehicle depth: 3098.674171 # Seafloor depth: -3173.841125 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; 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 = 22.78; 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 15 # Segment length 100.184477 meters # Minimum depth: 3171.236519 meters looking forward 50.000000 meters along route # Maximum depth: 3174.679913 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3096.236519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813217; longitude = -125.550327; captureRadius = 10; duration = 200; initialDepth = 3090.242604; finalDepth = 3096.236519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4433939999999 # Actual altitude: 78.4433939999999 # Commanded vehicle depth: 3096.236519 # Seafloor depth: -3174.679913 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.77; 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 = 313.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.062800 meters # Minimum depth: 3165.242604 meters looking forward 50.000000 meters along route # Maximum depth: 3170.361339 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.242604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812801; longitude = -125.551323; captureRadius = 10; duration = 216; initialDepth = 3086.728216; finalDepth = 3090.242604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.118735 # Actual altitude: 80.118735 # Commanded vehicle depth: 3090.242604 # Seafloor depth: -3170.361339 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 104.461653 meters # Minimum depth: 3161.728216 meters looking forward 50.000000 meters along route # Maximum depth: 3165.021851 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.728216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812353; longitude = -125.552398; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 3086.910459; finalDepth = 3086.728216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.118735 # Actual altitude: 80.118735 # Commanded vehicle depth: 3086.728216 # Seafloor depth: -3165.021851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.400879 meters # Minimum depth: 3161.910459 meters looking forward 50.000000 meters along route # Maximum depth: 3165.326772 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.910459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812442; longitude = -125.553563; captureRadius = 10; duration = 200; initialDepth = 3088.489024; finalDepth = 3086.910459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.293635 # Actual altitude: 78.293635 # Commanded vehicle depth: 3086.910459 # Seafloor depth: -3161.910459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 313.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.863220 meters # Minimum depth: 3163.489024 meters looking forward 50.000000 meters along route # Maximum depth: 3165.412424 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.489024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812527; longitude = -125.554683; captureRadius = 10; duration = 207; initialDepth = 3081.164075; finalDepth = 3088.489024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.9234000000001 # Actual altitude: 76.9234000000001 # Commanded vehicle depth: 3088.489024 # Seafloor depth: -3165.412424 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 140.485380 meters # Minimum depth: 3156.164075 meters looking forward 50.000000 meters along route # Maximum depth: 3163.095032 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.164075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812616; longitude = -125.555841; captureRadius = 10; duration = 280; # abortOnTimeout = True; initialDepth = 3079.724993; finalDepth = 3081.164075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.930957 # Actual altitude: 81.930957 # Commanded vehicle depth: 3081.164075 # Seafloor depth: -3163.095032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.357777 meters # Minimum depth: 3154.724993 meters looking forward 50.000000 meters along route # Maximum depth: 3155.815595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3079.724993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813535; longitude = -125.556922; captureRadius = 10; duration = 200; initialDepth = 3081.228760; finalDepth = 3079.724993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.930957 # Actual altitude: 81.930957 # Commanded vehicle depth: 3079.724993 # Seafloor depth: -3155.815595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 112.289582 meters # Minimum depth: 3156.228760 meters looking forward 50.000000 meters along route # Maximum depth: 3158.758093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3081.228760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814192; longitude = -125.557695; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 3082.941527; finalDepth = 3081.228760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0906020000002 # Actual altitude: 76.0906020000002 # Commanded vehicle depth: 3081.22876 # Seafloor depth: -3156.228760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.36; 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 = 304.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.755262 meters # Minimum depth: 3157.941527 meters looking forward 50.000000 meters along route # Maximum depth: 3161.511168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.941527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815200; longitude = -125.557580; captureRadius = 10; duration = 219; initialDepth = 3086.474243; finalDepth = 3082.941527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3082.941527 # Seafloor depth: -3157.941527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 181.513806 meters # Minimum depth: 3161.474243 meters looking forward 50.000000 meters along route # Maximum depth: 3185.629814 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3086.474243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816184; longitude = -125.557468; captureRadius = 10; duration = 363; # abortOnTimeout = True; initialDepth = 3101.873078; finalDepth = 3086.474243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3086.474243 # Seafloor depth: -3161.474243 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.616307 meters # Minimum depth: 3176.873078 meters looking forward 50.000000 meters along route # Maximum depth: 3185.651179 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.873078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817543; longitude = -125.556336; captureRadius = 10; duration = 205; initialDepth = 3101.980103; finalDepth = 3101.873078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.7781009999999 # Actual altitude: 83.7781009999999 # Commanded vehicle depth: 3101.873078 # Seafloor depth: -3185.651179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.11; 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 = 335.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 95.823520 meters # Minimum depth: 3176.980103 meters looking forward 50.000000 meters along route # Maximum depth: 3217.163822 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3101.980103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818311; longitude = -125.555696; captureRadius = 10; duration = 191; # abortOnTimeout = True; initialDepth = 3146.663343; finalDepth = 3101.980103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7781009999999 # Actual altitude: 83.7781009999999 # Commanded vehicle depth: 3101.980103 # Seafloor depth: -3176.980103 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.11; 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 = 335.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.934452 meters # Minimum depth: 3223.432582 meters looking forward 50.000000 meters along route # Maximum depth: 3235.443221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3146.663343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818793; longitude = -125.556587; captureRadius = 10; duration = 201; initialDepth = 3139.504876; finalDepth = 3146.663343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.7692386609324 # Actual altitude: 76.7692386609324 # Commanded vehicle depth: 3146.66334333907 # Seafloor depth: -3223.432582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 144.070588 meters # Minimum depth: 3214.504876 meters looking forward 50.000000 meters along route # Maximum depth: 3235.587769 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3139.504876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819300; longitude = -125.557525; captureRadius = 10; duration = 288; # abortOnTimeout = True; initialDepth = 3118.226743; finalDepth = 3139.504876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.0828930000002 # Actual altitude: 96.0828930000002 # Commanded vehicle depth: 3139.504876 # Seafloor depth: -3235.587769 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.232182 meters # Minimum depth: 3193.226743 meters looking forward 50.000000 meters along route # Maximum depth: 3214.157916 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3118.226743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818264; longitude = -125.558497; captureRadius = 10; duration = 200; initialDepth = 3110.516646; finalDepth = 3118.226743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.0828930000002 # Actual altitude: 96.0828930000002 # Commanded vehicle depth: 3118.226743 # Seafloor depth: -3214.157916 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 112.449002 meters # Minimum depth: 3185.516646 meters looking forward 50.000000 meters along route # Maximum depth: 3193.130980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3110.516646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817543; longitude = -125.559173; captureRadius = 10; duration = 224; initialDepth = 3095.659381; finalDepth = 3110.516646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 95.9311729999999 # Actual altitude: 95.9311729999999 # Commanded vehicle depth: 3110.516646 # Seafloor depth: -3193.130980 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.78; 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 8 # Segment length 140.542230 meters # Minimum depth: 3170.659381 meters looking forward 50.000000 meters along route # Maximum depth: 3185.327637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3095.659381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816734; longitude = -125.559932; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 3090.075709; finalDepth = 3095.659381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6682559999999 # Actual altitude: 89.6682559999999 # Commanded vehicle depth: 3095.659381 # Seafloor depth: -3185.327637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.885092 meters # Minimum depth: 3165.075709 meters looking forward 50.000000 meters along route # Maximum depth: 3169.210020 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.075709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815470; longitude = -125.560026; captureRadius = 10; duration = 205; initialDepth = 3090.228943; finalDepth = 3090.075709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.6682559999999 # Actual altitude: 89.6682559999999 # Commanded vehicle depth: 3090.075709 # Seafloor depth: -3169.210020 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 123.962160 meters # Minimum depth: 3165.228943 meters looking forward 50.000000 meters along route # Maximum depth: 3171.980489 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3090.228943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814545; longitude = -125.560094; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 3088.620887; finalDepth = 3090.228943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1343109999998 # Actual altitude: 79.1343109999998 # Commanded vehicle depth: 3090.228943 # Seafloor depth: -3165.228943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.54; 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 = 316.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.997566 meters # Minimum depth: 3163.620887 meters looking forward 50.000000 meters along route # Maximum depth: 3170.038304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3088.620887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813488; longitude = -125.559647; captureRadius = 10; duration = 205; initialDepth = 3082.505718; finalDepth = 3088.620887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.4174170000001 # Actual altitude: 81.4174170000001 # Commanded vehicle depth: 3088.620887 # Seafloor depth: -3170.038304 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.67; 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 = 325.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 113.163314 meters # Minimum depth: 3157.505718 meters looking forward 50.000000 meters along route # Maximum depth: 3165.445190 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3082.505718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812609; longitude = -125.559276; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 3080.998505; finalDepth = 3082.505718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.939472 # Actual altitude: 82.939472 # Commanded vehicle depth: 3082.505718 # Seafloor depth: -3165.445190 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 331.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.431174 meters # Minimum depth: 3155.998505 meters looking forward 50.000000 meters along route # Maximum depth: 3157.947648 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3080.998505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811992; longitude = -125.558266; captureRadius = 10; duration = 200; initialDepth = 3083.871321; finalDepth = 3080.998505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.939472 # Actual altitude: 82.939472 # Commanded vehicle depth: 3080.998505 # Seafloor depth: -3156.811092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 331.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.750853 meters # Minimum depth: 3158.871321 meters looking forward 50.000000 meters along route # Maximum depth: 3165.599966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3083.871321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811445; longitude = -125.557370; captureRadius = 10; duration = 205; initialDepth = 3089.696899; finalDepth = 3083.871321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.8125869999999 # Actual altitude: 75.8125869999999 # Commanded vehicle depth: 3083.871321 # Seafloor depth: -3158.871321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.25; 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 = 303.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 160.577665 meters # Minimum depth: 3164.696899 meters looking forward 50.000000 meters along route # Maximum depth: 3173.421831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3089.696899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810885; longitude = -125.556454; captureRadius = 10; duration = 321; # abortOnTimeout = True; initialDepth = 3099.631638; finalDepth = 3089.696899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3089.696899 # Seafloor depth: -3164.696899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.533589 meters # Minimum depth: 3174.631638 meters looking forward 50.000000 meters along route # Maximum depth: 3176.829402 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.631638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810631; longitude = -125.554683; captureRadius = 10; duration = 203; initialDepth = 3099.920484; finalDepth = 3099.631638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3099.631638 # Seafloor depth: -3174.631638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.028486 meters # Minimum depth: 3174.920484 meters looking forward 50.000000 meters along route # Maximum depth: 3177.378928 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.920484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810470; longitude = -125.553563; captureRadius = 10; duration = 216; initialDepth = 3099.680359; finalDepth = 3099.920484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.2387189999999 # Actual altitude: 77.2387189999999 # Commanded vehicle depth: 3099.920484 # Seafloor depth: -3177.159203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.95; 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 = 308.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 138.174877 meters # Minimum depth: 3174.680359 meters looking forward 50.000000 meters along route # Maximum depth: 3177.824720 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3099.680359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810299; longitude = -125.552371; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 3102.666202; finalDepth = 3099.680359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2387189999999 # Actual altitude: 77.2387189999999 # Commanded vehicle depth: 3099.680359 # Seafloor depth: -3174.680359 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.95; 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 = 308.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.609472 meters # Minimum depth: 3177.666202 meters looking forward 50.000000 meters along route # Maximum depth: 3178.570231 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.666202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810856; longitude = -125.550987; captureRadius = 10; duration = 201; initialDepth = 3102.637965; finalDepth = 3102.666202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8365880000001 # Actual altitude: 75.8365880000001 # Commanded vehicle depth: 3102.666202 # Seafloor depth: -3178.502790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.35; 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 = 303.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.868382 meters # Minimum depth: 3177.637965 meters looking forward 50.000000 meters along route # Maximum depth: 3179.650721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3102.637965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811262; longitude = -125.549979; captureRadius = 10; duration = 209; initialDepth = 3104.757154; finalDepth = 3102.637965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8365880000001 # Actual altitude: 75.8365880000001 # Commanded vehicle depth: 3102.637965 # Seafloor depth: -3177.637965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.35; 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 = 303.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.093589 meters # Minimum depth: 3179.757154 meters looking forward 50.000000 meters along route # Maximum depth: 3182.613353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3104.757154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811685; longitude = -125.548929; captureRadius = 10; duration = 212; initialDepth = 3106.279764; finalDepth = 3104.757154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3104.757154 # Seafloor depth: -3179.757154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 84.400942 meters # Minimum depth: 3181.279764 meters looking forward 50.000000 meters along route # Maximum depth: 3182.848938 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.279764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812113; longitude = -125.547866; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 3106.452718; finalDepth = 3106.279764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5691740000002 # Actual altitude: 76.5691740000002 # Commanded vehicle depth: 3106.279764 # Seafloor depth: -3182.848938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.298348 meters # Minimum depth: 3181.452718 meters looking forward 50.000000 meters along route # Maximum depth: 3186.452991 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3106.452718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812857; longitude = -125.547668; captureRadius = 10; duration = 204; initialDepth = 3111.880922; finalDepth = 3106.452718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5691740000002 # Actual altitude: 76.5691740000002 # Commanded vehicle depth: 3106.452718 # Seafloor depth: -3181.452718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.298296 meters # Minimum depth: 3186.880922 meters looking forward 50.000000 meters along route # Maximum depth: 3188.210067 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3111.880922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813758; longitude = -125.547428; captureRadius = 10; duration = 204; initialDepth = 3113.934067; finalDepth = 3111.880922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0346770000001 # Actual altitude: 75.0346770000001 # Commanded vehicle depth: 3111.880922 # Seafloor depth: -3186.915599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.298245 meters # Minimum depth: 3188.934067 meters looking forward 50.000000 meters along route # Maximum depth: 3199.507312 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3113.934067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814659; longitude = -125.547188; captureRadius = 10; duration = 204; initialDepth = 3125.088358; finalDepth = 3113.934067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0346770000001 # Actual altitude: 75.0346770000001 # Commanded vehicle depth: 3113.934067 # Seafloor depth: -3188.934067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.902905 meters # Minimum depth: 3200.088358 meters looking forward 50.000000 meters along route # Maximum depth: 3211.017739 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3125.088358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815560; longitude = -125.546948; captureRadius = 10; duration = 201; initialDepth = 3137.000122; finalDepth = 3125.088358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3125.088358 # Seafloor depth: -3200.088358 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 158.107186 meters # Minimum depth: 3212.000122 meters looking forward 50.000000 meters along route # Maximum depth: 3248.678663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3137.000122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816449; longitude = -125.546711; captureRadius = 10; duration = 316; # abortOnTimeout = True; initialDepth = 3177.500232; finalDepth = 3137.000122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3137.000122 # Seafloor depth: -3212.000122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.960028 meters # Minimum depth: 3252.500232 meters looking forward 50.000000 meters along route # Maximum depth: 3290.658603 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3177.500232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816476; longitude = -125.544940; captureRadius = 10; duration = 219; initialDepth = 3217.731755; finalDepth = 3177.500232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3177.500232 # Seafloor depth: -3252.500232 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.959933 meters # Minimum depth: 3292.731755 meters looking forward 50.000000 meters along route # Maximum depth: 3296.580047 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3217.731755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816495; longitude = -125.543708; captureRadius = 10; duration = 219; initialDepth = 3209.962126; finalDepth = 3217.731755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3217.731755 # Seafloor depth: -3292.731755 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.356771 meters # Minimum depth: 3284.962126 meters looking forward 50.000000 meters along route # Maximum depth: 3295.567755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3209.962126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816513; longitude = -125.542476; captureRadius = 10; duration = 200; initialDepth = 3169.063903; finalDepth = 3209.962126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 85.6056290000001 # Actual altitude: 85.6056290000001 # Commanded vehicle depth: 3209.962126 # Seafloor depth: -3295.567755 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 342.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 342.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 147.958493 meters # Minimum depth: 3244.063903 meters looking forward 50.000000 meters along route # Maximum depth: 3284.292603 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3169.063903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816530; longitude = -125.541352; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 3168.691783; finalDepth = 3169.063903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.2287 # Actual altitude: 100 # Commanded vehicle depth: 3169.063903 # Seafloor depth: -3284.292603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.172305 meters # Minimum depth: 3243.691783 meters looking forward 50.000000 meters along route # Maximum depth: 3257.231530 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3168.691783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817453; longitude = -125.540155; captureRadius = 10; duration = 202; initialDepth = 3182.361674; finalDepth = 3168.691783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.2287 # Actual altitude: 100 # Commanded vehicle depth: 3168.691783 # Seafloor depth: -3243.691783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.171835 meters # Minimum depth: 3257.361674 meters looking forward 50.000000 meters along route # Maximum depth: 3293.138340 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3182.361674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818084; longitude = -125.539337; captureRadius = 10; duration = 202; initialDepth = 3216.632685; finalDepth = 3182.361674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3182.361674 # Seafloor depth: -3257.361674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.171365 meters # Minimum depth: 3291.632685 meters looking forward 50.000000 meters along route # Maximum depth: 3298.445525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3216.632685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818714; longitude = -125.538518; captureRadius = 10; duration = 202; initialDepth = 3205.219428; finalDepth = 3216.632685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8562459999998 # Actual altitude: 77.8562459999998 # Commanded vehicle depth: 3216.632685 # Seafloor depth: -3294.488931 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 311.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.835958 meters # Minimum depth: 3280.219428 meters looking forward 50.000000 meters along route # Maximum depth: 3289.461235 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3205.219428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819345; longitude = -125.537700; captureRadius = 10; duration = 203; initialDepth = 3207.441360; finalDepth = 3205.219428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2418070000003 # Actual altitude: 84.2418070000003 # Commanded vehicle depth: 3205.219428 # Seafloor depth: -3289.461235 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 336.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.505364 meters # Minimum depth: 3282.441360 meters looking forward 50.000000 meters along route # Maximum depth: 3288.807516 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3207.441360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819980; longitude = -125.536876; captureRadius = 10; duration = 201; initialDepth = 3213.757412; finalDepth = 3207.441360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2418070000003 # Actual altitude: 84.2418070000003 # Commanded vehicle depth: 3207.44136 # Seafloor depth: -3282.441360 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 336.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.169956 meters # Minimum depth: 3288.757412 meters looking forward 50.000000 meters along route # Maximum depth: 3291.230028 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3213.757412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820607; longitude = -125.536064; captureRadius = 10; duration = 202; initialDepth = 3216.984438; finalDepth = 3213.757412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3213.757412 # Seafloor depth: -3288.757412 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.169487 meters # Minimum depth: 3291.984438 meters looking forward 50.000000 meters along route # Maximum depth: 3297.825304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3216.984438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821238; longitude = -125.535245; captureRadius = 10; duration = 202; initialDepth = 3184.171384; finalDepth = 3216.984438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3216.984438 # Seafloor depth: -3291.984438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.169017 meters # Minimum depth: 3259.171384 meters looking forward 50.000000 meters along route # Maximum depth: 3295.079614 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3184.171384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821868; longitude = -125.534427; captureRadius = 10; duration = 202; initialDepth = 3176.634805; finalDepth = 3184.171384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.90823 # Actual altitude: 100 # Commanded vehicle depth: 3184.171384 # Seafloor depth: -3295.079614 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.168547 meters # Minimum depth: 3251.634805 meters looking forward 50.000000 meters along route # Maximum depth: 3258.362750 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3176.634805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822499; longitude = -125.533609; captureRadius = 10; duration = 202; initialDepth = 3183.843650; finalDepth = 3176.634805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.90823 # Actual altitude: 100 # Commanded vehicle depth: 3176.634805 # Seafloor depth: -3258.362750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.168078 meters # Minimum depth: 3258.843650 meters looking forward 50.000000 meters along route # Maximum depth: 3263.556649 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3183.843650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823130; longitude = -125.532790; captureRadius = 10; duration = 202; initialDepth = 3188.942666; finalDepth = 3183.843650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7279449999996 # Actual altitude: 81.7279449999996 # Commanded vehicle depth: 3183.84365 # Seafloor depth: -3258.843650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.167608 meters # Minimum depth: 3263.942666 meters looking forward 50.000000 meters along route # Maximum depth: 3274.396552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3188.942666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823761; longitude = -125.531972; captureRadius = 10; duration = 202; initialDepth = 3199.973235; finalDepth = 3188.942666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3188.942666 # Seafloor depth: -3263.942666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.167139 meters # Minimum depth: 3274.973235 meters looking forward 50.000000 meters along route # Maximum depth: 3317.514639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3199.973235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824392; longitude = -125.531154; captureRadius = 10; duration = 202; initialDepth = 3239.173021; finalDepth = 3199.973235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3199.973235 # Seafloor depth: -3274.973235 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.166669 meters # Minimum depth: 3314.173021 meters looking forward 50.000000 meters along route # Maximum depth: 3317.723484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3239.173021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825023; longitude = -125.530336; captureRadius = 10; duration = 202; initialDepth = 3239.253302; finalDepth = 3239.173021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.550463 # Actual altitude: 78.550463 # Commanded vehicle depth: 3239.173021 # Seafloor depth: -3317.723484 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.20; 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 = 314.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.166199 meters # Minimum depth: 3314.253302 meters looking forward 50.000000 meters along route # Maximum depth: 3320.367141 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3239.253302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825653; longitude = -125.529517; captureRadius = 10; duration = 202; initialDepth = 3245.392541; finalDepth = 3239.253302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.550463 # Actual altitude: 78.550463 # Commanded vehicle depth: 3239.253302 # Seafloor depth: -3314.253302 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.20; 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 = 314.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 109.711342 meters # Minimum depth: 3320.392541 meters looking forward 50.000000 meters along route # Maximum depth: 3322.588877 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3284.932186 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3245.392541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826284; longitude = -125.528699; captureRadius = 10; duration = 219; initialDepth = 3247.432186; finalDepth = 3245.392541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 3245.392541 # Seafloor depth: -3320.392541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 75.3588909999999 # Sonar parameter altitude: 75.3588909999999 # Commanded vehicle depth: 3247.432186 # Seafloor depth: -3322.791077 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 301.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 109.711342 meters # Minimum depth: 3322.432186 meters looking forward 50.000000 meters along route # Maximum depth: 3322.791077 meters looking forward 50.000000 meters along route # Vehicle depth: 3247.432186 meters behavior waypoint { latitude = 36.826968; longitude = -125.527812; captureRadius = 10; duration = 1623; depth = 3247.432186; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 3247.432186 meters set by local depth and desired altitude behavior descend { duration = 9560; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 109.711342 meters # Minimum depth: 3322.432186 meters looking forward 50.000000 meters along route # Maximum depth: 3322.791077 meters looking forward 50.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.826968; longitude = -125.527812; captureRadius = 10; duration = 1000; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 227.721865; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 227.721865; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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