# 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: test.rte # Mission File: test.cfg # Distance: 2455.069192 (m) # Estimated Time: 3371 (s) 0.937 (hr) # Abort Time: 4383 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 2 # Route Points: 92 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 40 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 50 (m) # Abort Vehicle Depth: 75 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 25 (m) # Start Longitude: -121.8926 (deg) # Start Latitude: 36.8211 (deg) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.892042 36.819030 -79.747843 0.000000 1 # 1 -121.866621 36.810550 -77.058329 2455.069192 1 # # A total of 92 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 4383; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 50.000000; abortDepth = 75.000000; minAltitude = 40.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 18.039607 meters # Minimum depth: 77.011032 meters looking forward 100.000000 meters along route # Maximum depth: 77.058329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.011032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810550; longitude = -121.866621; captureRadius = 10; duration = 18; # abortOnTimeout = True; initialDepth = 27.011032; finalDepth = 27.011032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.047297 # Actual altitude: 50.047297 # Commanded vehicle depth:27.011032 # Seafloor depth:-77.058329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059385 meters # Minimum depth: 76.981076 meters looking forward 100.000000 meters along route # Maximum depth: 77.447063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.981076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810612; longitude = -121.866807; captureRadius = 10; duration = 27; initialDepth = 26.981076; finalDepth = 27.011032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.102632 # Actual altitude: 50.102632 # Commanded vehicle depth:26.981076 # Seafloor depth:-77.083708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059356 meters # Minimum depth: 76.766960 meters looking forward 100.000000 meters along route # Maximum depth: 77.447063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.766960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810706; longitude = -121.867088; captureRadius = 10; duration = 27; initialDepth = 26.766960; finalDepth = 26.981076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.188622 # Actual altitude: 50.188622 # Commanded vehicle depth:26.76696 # Seafloor depth:-76.955582 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059325 meters # Minimum depth: 76.739308 meters looking forward 100.000000 meters along route # Maximum depth: 77.447063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.739308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810799; longitude = -121.867368; captureRadius = 10; duration = 27; initialDepth = 26.739308; finalDepth = 26.766960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.251509 # Actual altitude: 50.251509 # Commanded vehicle depth:26.739308 # Seafloor depth:-76.990817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059297 meters # Minimum depth: 76.537903 meters looking forward 100.000000 meters along route # Maximum depth: 77.447063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.537903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810893; longitude = -121.867648; captureRadius = 10; duration = 27; initialDepth = 26.537903; finalDepth = 26.739308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.251509 # Actual altitude: 50.251509 # Commanded vehicle depth:26.537903 # Seafloor depth:-76.650425 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059266 meters # Minimum depth: 76.537903 meters looking forward 100.000000 meters along route # Maximum depth: 77.194206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.537903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810986; longitude = -121.867928; captureRadius = 10; duration = 27; initialDepth = 26.537903; finalDepth = 26.537903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.26668 # Actual altitude: 50.26668 # Commanded vehicle depth:26.537903 # Seafloor depth:-76.804583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059237 meters # Minimum depth: 76.194012 meters looking forward 100.000000 meters along route # Maximum depth: 77.093088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.194012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811080; longitude = -121.868208; captureRadius = 10; duration = 27; initialDepth = 26.194012; finalDepth = 26.537903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.26668 # Actual altitude: 50.26668 # Commanded vehicle depth:26.194012 # Seafloor depth:-76.194012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059207 meters # Minimum depth: 76.194012 meters looking forward 100.000000 meters along route # Maximum depth: 77.093088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.194012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811173; longitude = -121.868488; captureRadius = 10; duration = 27; initialDepth = 26.194012; finalDepth = 26.194012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.689773 # Actual altitude: 50.689773 # Commanded vehicle depth:26.194012 # Seafloor depth:-76.883785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059178 meters # Minimum depth: 76.176154 meters looking forward 100.000000 meters along route # Maximum depth: 76.925372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.176154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811267; longitude = -121.868769; captureRadius = 10; duration = 27; initialDepth = 26.176154; finalDepth = 26.194012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.689773 # Actual altitude: 50.689773 # Commanded vehicle depth:26.176154 # Seafloor depth:-76.176154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059147 meters # Minimum depth: 76.138164 meters looking forward 100.000000 meters along route # Maximum depth: 76.996697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.138164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811360; longitude = -121.869049; captureRadius = 10; duration = 27; initialDepth = 26.138164; finalDepth = 26.176154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.506156 # Actual altitude: 50.506156 # Commanded vehicle depth:26.138164 # Seafloor depth:-76.644320 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059118 meters # Minimum depth: 76.138164 meters looking forward 100.000000 meters along route # Maximum depth: 77.237449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.138164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811454; longitude = -121.869329; captureRadius = 10; duration = 27; initialDepth = 26.138164; finalDepth = 26.138164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.506156 # Actual altitude: 50.506156 # Commanded vehicle depth:26.138164 # Seafloor depth:-76.191406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059089 meters # Minimum depth: 76.138164 meters looking forward 100.000000 meters along route # Maximum depth: 77.237449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.138164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811547; longitude = -121.869609; captureRadius = 10; duration = 27; initialDepth = 26.138164; finalDepth = 26.138164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.828589 # Actual altitude: 50.828589 # Commanded vehicle depth:26.138164 # Seafloor depth:-76.966753 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059058 meters # Minimum depth: 76.138164 meters looking forward 100.000000 meters along route # Maximum depth: 77.237449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.138164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811640; longitude = -121.869889; captureRadius = 10; duration = 27; initialDepth = 26.138164; finalDepth = 26.138164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.828589 # Actual altitude: 50.828589 # Commanded vehicle depth:26.138164 # Seafloor depth:-76.950262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.31; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059029 meters # Minimum depth: 76.235285 meters looking forward 100.000000 meters along route # Maximum depth: 77.300781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.235285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811734; longitude = -121.870169; captureRadius = 10; duration = 27; initialDepth = 26.235285; finalDepth = 26.138164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.065496 # Actual altitude: 51.065496 # Commanded vehicle depth:26.235285 # Seafloor depth:-77.300781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.059000 meters # Minimum depth: 76.235285 meters looking forward 100.000000 meters along route # Maximum depth: 77.300781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.235285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811827; longitude = -121.870450; captureRadius = 10; duration = 27; initialDepth = 26.235285; finalDepth = 26.235285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.065496 # Actual altitude: 51.065496 # Commanded vehicle depth:26.235285 # Seafloor depth:-76.855069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058969 meters # Minimum depth: 76.144928 meters looking forward 100.000000 meters along route # Maximum depth: 77.300781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.144928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811921; longitude = -121.870730; captureRadius = 10; duration = 27; initialDepth = 26.144928; finalDepth = 26.235285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.619784 # Actual altitude: 50.619784 # Commanded vehicle depth:26.144928 # Seafloor depth:-76.239987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058940 meters # Minimum depth: 75.867983 meters looking forward 100.000000 meters along route # Maximum depth: 77.203850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.867983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812014; longitude = -121.871010; captureRadius = 10; duration = 27; initialDepth = 25.867983; finalDepth = 26.144928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.508569 # Actual altitude: 50.508569 # Commanded vehicle depth:25.867983 # Seafloor depth:-76.376552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058911 meters # Minimum depth: 75.867983 meters looking forward 100.000000 meters along route # Maximum depth: 77.203850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.867983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812108; longitude = -121.871290; captureRadius = 10; duration = 27; initialDepth = 25.867983; finalDepth = 25.867983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.894051 # Actual altitude: 50.894051 # Commanded vehicle depth:25.867983 # Seafloor depth:-76.762034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058880 meters # Minimum depth: 75.786271 meters looking forward 100.000000 meters along route # Maximum depth: 77.129913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.786271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812201; longitude = -121.871570; captureRadius = 10; duration = 27; initialDepth = 25.786271; finalDepth = 25.867983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.894051 # Actual altitude: 50.894051 # Commanded vehicle depth:25.786271 # Seafloor depth:-76.097534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058851 meters # Minimum depth: 75.786271 meters looking forward 100.000000 meters along route # Maximum depth: 76.762034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.786271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812295; longitude = -121.871851; captureRadius = 10; duration = 27; initialDepth = 25.786271; finalDepth = 25.786271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.314615 # Actual altitude: 50.314615 # Commanded vehicle depth:25.786271 # Seafloor depth:-76.100886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058821 meters # Minimum depth: 75.786271 meters looking forward 100.000000 meters along route # Maximum depth: 76.649515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.786271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812388; longitude = -121.872131; captureRadius = 10; duration = 27; initialDepth = 25.786271; finalDepth = 25.786271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.718875 # Actual altitude: 50.718875 # Commanded vehicle depth:25.786271 # Seafloor depth:-76.505146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058792 meters # Minimum depth: 76.067344 meters looking forward 100.000000 meters along route # Maximum depth: 77.010897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.067344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812482; longitude = -121.872411; captureRadius = 10; duration = 27; initialDepth = 26.067344; finalDepth = 25.786271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.718875 # Actual altitude: 50.718875 # Commanded vehicle depth:26.067344 # Seafloor depth:-76.284710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058762 meters # Minimum depth: 76.067344 meters looking forward 100.000000 meters along route # Maximum depth: 77.010897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.067344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812575; longitude = -121.872691; captureRadius = 10; duration = 27; initialDepth = 26.067344; finalDepth = 26.067344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.217366 # Actual altitude: 50.217366 # Commanded vehicle depth:26.067344 # Seafloor depth:-76.278048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058732 meters # Minimum depth: 76.067344 meters looking forward 100.000000 meters along route # Maximum depth: 77.010897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.067344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812669; longitude = -121.872971; captureRadius = 10; duration = 27; initialDepth = 26.067344; finalDepth = 26.067344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.386121 # Actual altitude: 50.386121 # Commanded vehicle depth:26.067344 # Seafloor depth:-76.453465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058702 meters # Minimum depth: 76.168944 meters looking forward 100.000000 meters along route # Maximum depth: 76.809676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.168944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812762; longitude = -121.873251; captureRadius = 10; duration = 27; initialDepth = 26.168944; finalDepth = 26.067344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.386121 # Actual altitude: 50.386121 # Commanded vehicle depth:26.168944 # Seafloor depth:-76.499086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058673 meters # Minimum depth: 76.168944 meters looking forward 100.000000 meters along route # Maximum depth: 76.655461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.168944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812855; longitude = -121.873532; captureRadius = 10; duration = 27; initialDepth = 26.168944; finalDepth = 26.168944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.330142 # Actual altitude: 50.330142 # Commanded vehicle depth:26.168944 # Seafloor depth:-76.487455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058643 meters # Minimum depth: 76.209415 meters looking forward 100.000000 meters along route # Maximum depth: 76.655461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.209415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812949; longitude = -121.873812; captureRadius = 10; duration = 27; initialDepth = 26.209415; finalDepth = 26.168944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.318511 # Actual altitude: 50.318511 # Commanded vehicle depth:26.209415 # Seafloor depth:-76.259308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058614 meters # Minimum depth: 76.064062 meters looking forward 100.000000 meters along route # Maximum depth: 76.572687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.064062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813042; longitude = -121.874092; captureRadius = 10; duration = 27; initialDepth = 26.064062; finalDepth = 26.209415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307847 # Actual altitude: 50.307847 # Commanded vehicle depth:26.064062 # Seafloor depth:-76.371909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058583 meters # Minimum depth: 76.064062 meters looking forward 100.000000 meters along route # Maximum depth: 76.564325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.064062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813136; longitude = -121.874372; captureRadius = 10; duration = 27; initialDepth = 26.064062; finalDepth = 26.064062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307847 # Actual altitude: 50.307847 # Commanded vehicle depth:26.064062 # Seafloor depth:-76.134904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058554 meters # Minimum depth: 76.064062 meters looking forward 100.000000 meters along route # Maximum depth: 76.564325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.064062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813229; longitude = -121.874652; captureRadius = 10; duration = 27; initialDepth = 26.064062; finalDepth = 26.064062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.274986 # Actual altitude: 50.274986 # Commanded vehicle depth:26.064062 # Seafloor depth:-76.339048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058525 meters # Minimum depth: 75.821463 meters looking forward 100.000000 meters along route # Maximum depth: 76.564325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.821463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813323; longitude = -121.874932; captureRadius = 10; duration = 27; initialDepth = 25.821463; finalDepth = 26.064062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.274986 # Actual altitude: 50.274986 # Commanded vehicle depth:25.821463 # Seafloor depth:-75.889583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058494 meters # Minimum depth: 75.821463 meters looking forward 100.000000 meters along route # Maximum depth: 76.564325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.821463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813416; longitude = -121.875213; captureRadius = 10; duration = 27; initialDepth = 25.821463; finalDepth = 25.821463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.371753 # Actual altitude: 50.371753 # Commanded vehicle depth:25.821463 # Seafloor depth:-76.193216 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058465 meters # Minimum depth: 75.821463 meters looking forward 100.000000 meters along route # Maximum depth: 76.482126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.821463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813510; longitude = -121.875493; captureRadius = 10; duration = 27; initialDepth = 25.821463; finalDepth = 25.821463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.660663 # Actual altitude: 50.660663 # Commanded vehicle depth:25.821463 # Seafloor depth:-76.482126 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058436 meters # Minimum depth: 75.961858 meters looking forward 100.000000 meters along route # Maximum depth: 76.482126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.961858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813603; longitude = -121.875773; captureRadius = 10; duration = 27; initialDepth = 25.961858; finalDepth = 25.821463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.660663 # Actual altitude: 50.660663 # Commanded vehicle depth:25.961858 # Seafloor depth:-76.167229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058405 meters # Minimum depth: 75.841797 meters looking forward 100.000000 meters along route # Maximum depth: 76.482126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.841797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813697; longitude = -121.876053; captureRadius = 10; duration = 27; initialDepth = 25.841797; finalDepth = 25.961858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.27824 # Actual altitude: 50.27824 # Commanded vehicle depth:25.841797 # Seafloor depth:-76.120037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058376 meters # Minimum depth: 75.841797 meters looking forward 100.000000 meters along route # Maximum depth: 76.452369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.841797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813790; longitude = -121.876333; captureRadius = 10; duration = 27; initialDepth = 25.841797; finalDepth = 25.841797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.610572 # Actual altitude: 50.610572 # Commanded vehicle depth:25.841797 # Seafloor depth:-76.452369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058347 meters # Minimum depth: 75.841797 meters looking forward 100.000000 meters along route # Maximum depth: 76.699730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.841797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813884; longitude = -121.876614; captureRadius = 10; duration = 27; initialDepth = 25.841797; finalDepth = 25.841797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.610572 # Actual altitude: 50.610572 # Commanded vehicle depth:25.841797 # Seafloor depth:-76.190454 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058316 meters # Minimum depth: 75.841797 meters looking forward 100.000000 meters along route # Maximum depth: 76.699730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.841797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813977; longitude = -121.876894; captureRadius = 10; duration = 27; initialDepth = 25.841797; finalDepth = 25.841797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.348657 # Actual altitude: 50.348657 # Commanded vehicle depth:25.841797 # Seafloor depth:-76.162858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058287 meters # Minimum depth: 75.869288 meters looking forward 100.000000 meters along route # Maximum depth: 76.699730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.869288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814070; longitude = -121.877174; captureRadius = 10; duration = 27; initialDepth = 25.869288; finalDepth = 25.841797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.321061 # Actual altitude: 50.321061 # Commanded vehicle depth:25.869288 # Seafloor depth:-75.942849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058257 meters # Minimum depth: 75.869288 meters looking forward 100.000000 meters along route # Maximum depth: 76.699730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.869288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814164; longitude = -121.877454; captureRadius = 10; duration = 27; initialDepth = 25.869288; finalDepth = 25.869288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.550477 # Actual altitude: 50.550477 # Commanded vehicle depth:25.869288 # Seafloor depth:-76.419765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058228 meters # Minimum depth: 75.869288 meters looking forward 100.000000 meters along route # Maximum depth: 76.474574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.869288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814257; longitude = -121.877734; captureRadius = 10; duration = 27; initialDepth = 25.869288; finalDepth = 25.869288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.550477 # Actual altitude: 50.550477 # Commanded vehicle depth:25.869288 # Seafloor depth:-76.405374 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058198 meters # Minimum depth: 76.164768 meters looking forward 100.000000 meters along route # Maximum depth: 76.474574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.164768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814351; longitude = -121.878014; captureRadius = 10; duration = 27; initialDepth = 26.164768; finalDepth = 25.869288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.536086 # Actual altitude: 50.536086 # Commanded vehicle depth:26.164768 # Seafloor depth:-76.312290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058168 meters # Minimum depth: 76.156885 meters looking forward 100.000000 meters along route # Maximum depth: 76.558461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.156885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814444; longitude = -121.878295; captureRadius = 10; duration = 27; initialDepth = 26.156885; finalDepth = 26.164768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.271243 # Actual altitude: 50.271243 # Commanded vehicle depth:26.156885 # Seafloor depth:-76.428128 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058139 meters # Minimum depth: 76.156885 meters looking forward 100.000000 meters along route # Maximum depth: 76.800995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.156885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814538; longitude = -121.878575; captureRadius = 10; duration = 27; initialDepth = 26.156885; finalDepth = 26.156885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.361843 # Actual altitude: 50.361843 # Commanded vehicle depth:26.156885 # Seafloor depth:-76.518728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058109 meters # Minimum depth: 76.156885 meters looking forward 100.000000 meters along route # Maximum depth: 76.800995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.156885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814631; longitude = -121.878855; captureRadius = 10; duration = 27; initialDepth = 26.156885; finalDepth = 26.156885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.361843 # Actual altitude: 50.361843 # Commanded vehicle depth:26.156885 # Seafloor depth:-76.470029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058079 meters # Minimum depth: 76.156885 meters looking forward 100.000000 meters along route # Maximum depth: 76.898968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.156885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814725; longitude = -121.879135; captureRadius = 10; duration = 27; initialDepth = 26.156885; finalDepth = 26.156885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.525925 # Actual altitude: 50.525925 # Commanded vehicle depth:26.156885 # Seafloor depth:-76.682810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058049 meters # Minimum depth: 76.415890 meters looking forward 100.000000 meters along route # Maximum depth: 76.898968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.415890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814818; longitude = -121.879415; captureRadius = 10; duration = 27; initialDepth = 26.415890; finalDepth = 26.156885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.525925 # Actual altitude: 50.525925 # Commanded vehicle depth:26.41589 # Seafloor depth:-76.619137 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.058020 meters # Minimum depth: 76.428302 meters looking forward 100.000000 meters along route # Maximum depth: 76.898968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.428302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814912; longitude = -121.879696; captureRadius = 10; duration = 27; initialDepth = 26.428302; finalDepth = 26.415890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.41303 # Actual altitude: 50.41303 # Commanded vehicle depth:26.428302 # Seafloor depth:-76.841332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057990 meters # Minimum depth: 76.428302 meters looking forward 100.000000 meters along route # Maximum depth: 77.021177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.428302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815005; longitude = -121.879976; captureRadius = 10; duration = 27; initialDepth = 26.428302; finalDepth = 26.428302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.41303 # Actual altitude: 50.41303 # Commanded vehicle depth:26.428302 # Seafloor depth:-76.535052 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057961 meters # Minimum depth: 76.428302 meters looking forward 100.000000 meters along route # Maximum depth: 77.021177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.428302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815099; longitude = -121.880256; captureRadius = 10; duration = 27; initialDepth = 26.428302; finalDepth = 26.428302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.428632 # Actual altitude: 50.428632 # Commanded vehicle depth:26.428302 # Seafloor depth:-76.856934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057931 meters # Minimum depth: 76.428302 meters looking forward 100.000000 meters along route # Maximum depth: 77.155709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.428302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815192; longitude = -121.880536; captureRadius = 10; duration = 27; initialDepth = 26.428302; finalDepth = 26.428302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.727407 # Actual altitude: 50.727407 # Commanded vehicle depth:26.428302 # Seafloor depth:-77.155709 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057901 meters # Minimum depth: 76.396638 meters looking forward 100.000000 meters along route # Maximum depth: 77.543648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.396638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815285; longitude = -121.880816; captureRadius = 10; duration = 27; initialDepth = 26.396638; finalDepth = 26.428302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.14701 # Actual altitude: 51.14701 # Commanded vehicle depth:26.396638 # Seafloor depth:-77.543648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057871 meters # Minimum depth: 75.991061 meters looking forward 100.000000 meters along route # Maximum depth: 77.543648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.991061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815379; longitude = -121.881096; captureRadius = 10; duration = 27; initialDepth = 25.991061; finalDepth = 26.396638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.14701 # Actual altitude: 51.14701 # Commanded vehicle depth:25.991061 # Seafloor depth:-76.477149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057842 meters # Minimum depth: 75.991061 meters looking forward 100.000000 meters along route # Maximum depth: 77.543648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.991061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815472; longitude = -121.881377; captureRadius = 10; duration = 27; initialDepth = 25.991061; finalDepth = 25.991061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.493723 # Actual altitude: 50.493723 # Commanded vehicle depth:25.991061 # Seafloor depth:-76.484784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.97; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057812 meters # Minimum depth: 75.991061 meters looking forward 100.000000 meters along route # Maximum depth: 77.207138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.991061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815566; longitude = -121.881657; captureRadius = 10; duration = 27; initialDepth = 25.991061; finalDepth = 25.991061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.94433 # Actual altitude: 50.94433 # Commanded vehicle depth:25.991061 # Seafloor depth:-76.935391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057783 meters # Minimum depth: 75.991061 meters looking forward 100.000000 meters along route # Maximum depth: 77.207138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.991061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815659; longitude = -121.881937; captureRadius = 10; duration = 27; initialDepth = 25.991061; finalDepth = 25.991061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.94433 # Actual altitude: 50.94433 # Commanded vehicle depth:25.991061 # Seafloor depth:-76.679146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057752 meters # Minimum depth: 76.194010 meters looking forward 100.000000 meters along route # Maximum depth: 77.798120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.194010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815753; longitude = -121.882217; captureRadius = 10; duration = 27; initialDepth = 26.194010; finalDepth = 25.991061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.034673 # Actual altitude: 51.034673 # Commanded vehicle depth:26.19401 # Seafloor depth:-77.228683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.14; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057723 meters # Minimum depth: 76.219529 meters looking forward 100.000000 meters along route # Maximum depth: 77.798120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.219529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815846; longitude = -121.882497; captureRadius = 10; duration = 27; initialDepth = 26.219529; finalDepth = 26.194010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.375562 # Actual altitude: 51.375562 # Commanded vehicle depth:26.219529 # Seafloor depth:-77.595091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.50; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057694 meters # Minimum depth: 75.886912 meters looking forward 100.000000 meters along route # Maximum depth: 77.798120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.886912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815940; longitude = -121.882777; captureRadius = 10; duration = 27; initialDepth = 25.886912; finalDepth = 26.219529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.375562 # Actual altitude: 51.375562 # Commanded vehicle depth:25.886912 # Seafloor depth:-75.886912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.50; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057664 meters # Minimum depth: 75.886912 meters looking forward 100.000000 meters along route # Maximum depth: 77.798120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.886912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816033; longitude = -121.883058; captureRadius = 10; duration = 27; initialDepth = 25.886912; finalDepth = 25.886912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.259047 # Actual altitude: 50.259047 # Commanded vehicle depth:25.886912 # Seafloor depth:-76.145959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057634 meters # Minimum depth: 75.886912 meters looking forward 100.000000 meters along route # Maximum depth: 77.210585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.886912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816127; longitude = -121.883338; captureRadius = 10; duration = 27; initialDepth = 25.886912; finalDepth = 25.886912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.273933 # Actual altitude: 50.273933 # Commanded vehicle depth:25.886912 # Seafloor depth:-76.160845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.10; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057604 meters # Minimum depth: 76.038397 meters looking forward 100.000000 meters along route # Maximum depth: 76.764973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.038397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816220; longitude = -121.883618; captureRadius = 10; duration = 27; initialDepth = 26.038397; finalDepth = 25.886912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.570315 # Actual altitude: 50.570315 # Commanded vehicle depth:26.038397 # Seafloor depth:-76.608712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057575 meters # Minimum depth: 76.038397 meters looking forward 100.000000 meters along route # Maximum depth: 76.868083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.038397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816314; longitude = -121.883898; captureRadius = 10; duration = 27; initialDepth = 26.038397; finalDepth = 26.038397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.570315 # Actual altitude: 50.570315 # Commanded vehicle depth:26.038397 # Seafloor depth:-76.442141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057545 meters # Minimum depth: 76.345845 meters looking forward 100.000000 meters along route # Maximum depth: 76.868083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.345845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816407; longitude = -121.884178; captureRadius = 10; duration = 27; initialDepth = 26.345845; finalDepth = 26.038397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.403744 # Actual altitude: 50.403744 # Commanded vehicle depth:26.345845 # Seafloor depth:-76.622288 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.61; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057516 meters # Minimum depth: 76.442141 meters looking forward 100.000000 meters along route # Maximum depth: 76.868083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.442141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816500; longitude = -121.884459; captureRadius = 10; duration = 27; initialDepth = 26.442141; finalDepth = 26.345845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.368633 # Actual altitude: 50.368633 # Commanded vehicle depth:26.442141 # Seafloor depth:-76.810774 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.47; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057485 meters # Minimum depth: 76.527460 meters looking forward 100.000000 meters along route # Maximum depth: 76.885893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.527460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816594; longitude = -121.884739; captureRadius = 10; duration = 27; initialDepth = 26.527460; finalDepth = 26.442141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.368633 # Actual altitude: 50.368633 # Commanded vehicle depth:26.52746 # Seafloor depth:-76.885893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.47; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057456 meters # Minimum depth: 76.610594 meters looking forward 100.000000 meters along route # Maximum depth: 77.085185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.610594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816687; longitude = -121.885019; captureRadius = 10; duration = 27; initialDepth = 26.610594; finalDepth = 26.527460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.358433 # Actual altitude: 50.358433 # Commanded vehicle depth:26.610594 # Seafloor depth:-76.950249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057427 meters # Minimum depth: 76.725046 meters looking forward 100.000000 meters along route # Maximum depth: 77.348525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.725046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816781; longitude = -121.885299; captureRadius = 10; duration = 27; initialDepth = 26.725046; finalDepth = 26.610594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.339655 # Actual altitude: 50.339655 # Commanded vehicle depth:26.725046 # Seafloor depth:-76.900949 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.36; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057397 meters # Minimum depth: 76.793937 meters looking forward 100.000000 meters along route # Maximum depth: 77.348525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.793937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816874; longitude = -121.885579; captureRadius = 10; duration = 27; initialDepth = 26.793937; finalDepth = 26.725046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.491245 # Actual altitude: 50.491245 # Commanded vehicle depth:26.793937 # Seafloor depth:-77.285182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.96; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057367 meters # Minimum depth: 76.804972 meters looking forward 100.000000 meters along route # Maximum depth: 77.630218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.804972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816968; longitude = -121.885859; captureRadius = 10; duration = 27; initialDepth = 26.804972; finalDepth = 26.793937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.789066 # Actual altitude: 50.789066 # Commanded vehicle depth:26.804972 # Seafloor depth:-77.594038 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057337 meters # Minimum depth: 76.969040 meters looking forward 100.000000 meters along route # Maximum depth: 77.660268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.969040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817061; longitude = -121.886140; captureRadius = 10; duration = 27; initialDepth = 26.969040; finalDepth = 26.804972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.789066 # Actual altitude: 50.789066 # Commanded vehicle depth:26.96904 # Seafloor depth:-77.125144 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057308 meters # Minimum depth: 76.969040 meters looking forward 100.000000 meters along route # Maximum depth: 78.023971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.969040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817155; longitude = -121.886420; captureRadius = 10; duration = 27; initialDepth = 26.969040; finalDepth = 26.969040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.329689 # Actual altitude: 50.329689 # Commanded vehicle depth:26.96904 # Seafloor depth:-77.298729 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057278 meters # Minimum depth: 77.124524 meters looking forward 100.000000 meters along route # Maximum depth: 78.023971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.124524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817248; longitude = -121.886700; captureRadius = 10; duration = 27; initialDepth = 27.124524; finalDepth = 26.969040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.329689 # Actual altitude: 50.329689 # Commanded vehicle depth:27.124524 # Seafloor depth:-77.124524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057248 meters # Minimum depth: 77.124524 meters looking forward 100.000000 meters along route # Maximum depth: 78.460022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.124524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817342; longitude = -121.886980; captureRadius = 10; duration = 27; initialDepth = 27.124524; finalDepth = 27.124524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.209747 # Actual altitude: 50.209747 # Commanded vehicle depth:27.124524 # Seafloor depth:-77.334271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.84; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057219 meters # Minimum depth: 77.124524 meters looking forward 100.000000 meters along route # Maximum depth: 78.460022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.124524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817435; longitude = -121.887260; captureRadius = 10; duration = 27; initialDepth = 27.124524; finalDepth = 27.124524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.700983 # Actual altitude: 50.700983 # Commanded vehicle depth:27.124524 # Seafloor depth:-77.825507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057189 meters # Minimum depth: 77.066046 meters looking forward 100.000000 meters along route # Maximum depth: 78.816036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.066046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817529; longitude = -121.887540; captureRadius = 10; duration = 27; initialDepth = 27.066046; finalDepth = 27.124524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.787357 # Actual altitude: 50.787357 # Commanded vehicle depth:27.066046 # Seafloor depth:-77.853403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.15; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057160 meters # Minimum depth: 77.066046 meters looking forward 100.000000 meters along route # Maximum depth: 78.816036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.066046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817622; longitude = -121.887821; captureRadius = 10; duration = 27; initialDepth = 27.066046; finalDepth = 27.066046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.145843 # Actual altitude: 51.145843 # Commanded vehicle depth:27.066046 # Seafloor depth:-78.211889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.58; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057129 meters # Minimum depth: 77.066046 meters looking forward 100.000000 meters along route # Maximum depth: 78.816036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.066046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817715; longitude = -121.888101; captureRadius = 10; duration = 27; initialDepth = 27.066046; finalDepth = 27.066046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.337933 # Actual altitude: 51.337933 # Commanded vehicle depth:27.066046 # Seafloor depth:-78.403979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057100 meters # Minimum depth: 77.066046 meters looking forward 100.000000 meters along route # Maximum depth: 78.816036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.066046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817809; longitude = -121.888381; captureRadius = 10; duration = 27; initialDepth = 27.066046; finalDepth = 27.066046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.337933 # Actual altitude: 51.337933 # Commanded vehicle depth:27.066046 # Seafloor depth:-77.698501 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.057071 meters # Minimum depth: 77.698501 meters looking forward 100.000000 meters along route # Maximum depth: 78.705134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.698501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817902; longitude = -121.888661; captureRadius = 10; duration = 27; initialDepth = 27.698501; finalDepth = 27.066046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.657312 # Actual altitude: 50.657312 # Commanded vehicle depth:27.698501 # Seafloor depth:-78.355813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.63; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 29.059499 meters # Minimum depth: 77.698501 meters looking forward 100.000000 meters along route # Maximum depth: 78.716851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.698501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817996; longitude = -121.888941; captureRadius = 10; duration = 29; initialDepth = 27.698501; finalDepth = 27.698501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.657312 # Actual altitude: 50.657312 # Commanded vehicle depth:27.698501 # Seafloor depth:-77.953916 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.63; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.054553 meters # Minimum depth: 77.877605 meters looking forward 100.000000 meters along route # Maximum depth: 78.716851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.877605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818096; longitude = -121.889242; captureRadius = 10; duration = 25; initialDepth = 27.877605; finalDepth = 27.698501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.255415 # Actual altitude: 50.255415 # Commanded vehicle depth:27.877605 # Seafloor depth:-78.032767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.02; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.056981 meters # Minimum depth: 77.936898 meters looking forward 100.000000 meters along route # Maximum depth: 79.111847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.936898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818183; longitude = -121.889502; captureRadius = 10; duration = 27; initialDepth = 27.936898; finalDepth = 27.877605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.607687 # Actual altitude: 50.607687 # Commanded vehicle depth:27.936898 # Seafloor depth:-78.544585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.43; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.999807 meters # Minimum depth: 77.936898 meters looking forward 100.000000 meters along route # Maximum depth: 79.129855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.936898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818276; longitude = -121.889782; captureRadius = 10; duration = 28; initialDepth = 27.936898; finalDepth = 27.936898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.739316 # Actual altitude: 50.739316 # Commanded vehicle depth:27.936898 # Seafloor depth:-78.676214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.114067 meters # Minimum depth: 78.371911 meters looking forward 100.000000 meters along route # Maximum depth: 79.129855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.371911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818376; longitude = -121.890082; captureRadius = 10; duration = 25; initialDepth = 28.371911; finalDepth = 27.936898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.739316 # Actual altitude: 50.739316 # Commanded vehicle depth:28.371911 # Seafloor depth:-78.999852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.056893 meters # Minimum depth: 78.412282 meters looking forward 100.000000 meters along route # Maximum depth: 79.219981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.412282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818463; longitude = -121.890342; captureRadius = 10; duration = 27; initialDepth = 28.412282; finalDepth = 28.371911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.651344 # Actual altitude: 50.651344 # Commanded vehicle depth:28.412282 # Seafloor depth:-79.063626 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.61; MB_Rate = 2; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.940114 meters # Minimum depth: 78.412282 meters looking forward 100.000000 meters along route # Maximum depth: 79.291131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.412282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818557; longitude = -121.890622; captureRadius = 10; duration = 28; initialDepth = 28.412282; finalDepth = 28.412282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.66073 # Actual altitude: 50.66073 # Commanded vehicle depth:28.412282 # Seafloor depth:-79.073012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.173582 meters # Minimum depth: 78.747524 meters looking forward 100.000000 meters along route # Maximum depth: 79.445874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.747524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818657; longitude = -121.890922; captureRadius = 10; duration = 25; initialDepth = 28.747524; finalDepth = 28.412282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.66073 # Actual altitude: 50.66073 # Commanded vehicle depth:28.747524 # Seafloor depth:-79.285097 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.056803 meters # Minimum depth: 78.747524 meters looking forward 100.000000 meters along route # Maximum depth: 79.583699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.747524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818744; longitude = -121.891183; captureRadius = 10; duration = 27; initialDepth = 28.747524; finalDepth = 28.747524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.537573 # Actual altitude: 50.537573 # Commanded vehicle depth:28.747524 # Seafloor depth:-79.065723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.880423 meters # Minimum depth: 78.928341 meters looking forward 100.000000 meters along route # Maximum depth: 79.660128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.928341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818837; longitude = -121.891463; captureRadius = 10; duration = 28; initialDepth = 28.928341; finalDepth = 28.747524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.501338 # Actual altitude: 50.501338 # Commanded vehicle depth:28.928341 # Seafloor depth:-79.429679 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.01; MB_Rate = 2; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.036877 meters # Minimum depth: 79.065723 meters looking forward 100.000000 meters along route # Maximum depth: 79.747643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.065723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818937; longitude = -121.891762; captureRadius = 10; duration = 27; initialDepth = 29.065723; finalDepth = 28.928341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.501338 # Actual altitude: 50.501338 # Commanded vehicle depth:29.065723 # Seafloor depth:-79.506123 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.01; MB_Rate = 2; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50.68212 # Actual altitude: 50.68212 # Commanded vehicle depth:29.065723 # Seafloor depth:-79.747843 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 237.167644 meters # Minimum depth: 79.065723 meters looking forward 100.000000 meters along route # Maximum depth: 79.747843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.065723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819030; longitude = -121.892042; captureRadius = 10; duration = 237; initialDepth = 29.065723; finalDepth = 29.065723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 111.861008; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 40.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 111.861008; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################