# 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: SecondTest.rte # Mission File: SecondTest.cfg # Distance: 6095.407132 (m) # Estimated Time: 6209 (s) 1.725 (hr) # Abort Time: 7451 (s) # Way Points: 2 # Route Points: 111 # # Mission Parameters: # Desired Vehicle Altitude: 30 (m) # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 200 (m) # Abort Vehicle Depth: 225 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (m) # Time to First Waypoint: 500 (s) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.855081 36.834576 -62.919902 0.000000 1 # 1 -121.857715 36.779675 -72.977783 6095.407132 1 # # A total of 111 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 6095.407132 #define MISSION_TIME 6209 #define MISSION_TIMEOUT 7451 #define DEPTH_MAX 200.000000 #define DEPTH_ABORT 225.000000 #define ALTITUDE_DESIRED 30.000000 #define ALTITUDE_MIN 18.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 60 #define ASCENDRUDDER 10.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 20 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 1 # Segment length 45.611696 meters # Minimum depth: 72.958984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 42.958984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779675; longitude = -121.857715; captureRadius = 10; duration = 36; initialDepth = 42.958984; finalDepth = 42.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.977994 meters # Minimum depth: 72.958984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 42.958984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780086; longitude = -121.857695; captureRadius = 10; duration = 44; initialDepth = 42.958984; finalDepth = 42.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.578297 # Altitude Set: 30.578297 # Vehicle Depth:42.958984 # Seafloor Depth:-73.537281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 73.39; MB_Bottom_Detect_Filter_Min_Depth = 22.93; MB_Bottom_Detect_Filter_Max_Depth = 39.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.977999 meters # Minimum depth: 72.958984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 42.958984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780590; longitude = -121.857671; captureRadius = 10; duration = 44; initialDepth = 42.958984; finalDepth = 42.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.482412 # Altitude Set: 31.482412 # Vehicle Depth:42.958984 # Seafloor Depth:-74.441396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 75.56; MB_Bottom_Detect_Filter_Min_Depth = 23.61; MB_Bottom_Detect_Filter_Max_Depth = 40.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978003 meters # Minimum depth: 72.958984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 42.958984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781094; longitude = -121.857647; captureRadius = 10; duration = 44; initialDepth = 42.958984; finalDepth = 42.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.003065 # Altitude Set: 34.003065 # Vehicle Depth:42.958984 # Seafloor Depth:-76.962049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 81.61; MB_Bottom_Detect_Filter_Min_Depth = 25.50; MB_Bottom_Detect_Filter_Max_Depth = 44.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978008 meters # Minimum depth: 73.133705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 43.133705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781598; longitude = -121.857623; captureRadius = 10; duration = 44; initialDepth = 43.133705; finalDepth = 42.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 38.287068 # Altitude Set: 38.287068 # Vehicle Depth:43.133705 # Seafloor Depth:-81.420773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 91.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.72; MB_Bottom_Detect_Filter_Max_Range = 91.89; MB_Bottom_Detect_Filter_Min_Depth = 28.72; MB_Bottom_Detect_Filter_Max_Depth = 49.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978012 meters # Minimum depth: 75.413210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.413210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782103; longitude = -121.857598; captureRadius = 10; duration = 44; initialDepth = 45.413210; finalDepth = 43.133705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 42.73465 # Altitude Set: 42.73465 # Vehicle Depth:45.41321 # Seafloor Depth:-88.147860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 102.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 102.56; MB_Bottom_Detect_Filter_Min_Depth = 32.05; MB_Bottom_Detect_Filter_Max_Depth = 55.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978016 meters # Minimum depth: 78.572726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 48.572726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782607; longitude = -121.857574; captureRadius = 10; duration = 44; initialDepth = 48.572726; finalDepth = 45.413210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.580182 # Altitude Set: 50.580182 # Vehicle Depth:48.572726 # Seafloor Depth:-99.152908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.94; MB_Bottom_Detect_Filter_Max_Range = 121.39; MB_Bottom_Detect_Filter_Min_Depth = 37.94; MB_Bottom_Detect_Filter_Max_Depth = 65.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.816927 meters # Minimum depth: 84.404094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.404094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783111; longitude = -121.857550; captureRadius = 10; duration = 40; initialDepth = 54.404094; finalDepth = 48.572726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.37574 # Altitude Set: 58.37574 # Vehicle Depth:54.404094 # Seafloor Depth:-112.779834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.78; MB_Bottom_Detect_Filter_Max_Range = 140.10; MB_Bottom_Detect_Filter_Min_Depth = 43.78; MB_Bottom_Detect_Filter_Max_Depth = 75.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.919338 meters # Minimum depth: 91.076321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 61.076321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783569; longitude = -121.857528; captureRadius = 10; duration = 43; initialDepth = 61.076321; finalDepth = 54.404094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.210129 # Altitude Set: 60 # Vehicle Depth:61.076321 # Seafloor Depth:-124.286450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978029 meters # Minimum depth: 103.693965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 73.693965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784063; longitude = -121.857504; captureRadius = 10; duration = 44; initialDepth = 73.693965; finalDepth = 61.076321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.210129 # Altitude Set: 60 # Vehicle Depth:73.693965 # Seafloor Depth:-135.900604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978034 meters # Minimum depth: 117.264777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 87.264777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784568; longitude = -121.857480; captureRadius = 10; duration = 44; initialDepth = 87.264777; finalDepth = 73.693965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.206639 # Altitude Set: 60 # Vehicle Depth:87.264777 # Seafloor Depth:-149.412271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978038 meters # Minimum depth: 128.145930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.145930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785072; longitude = -121.857456; captureRadius = 10; duration = 44; initialDepth = 98.145930; finalDepth = 87.264777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.906761 # Altitude Set: 60 # Vehicle Depth:98.14593 # Seafloor Depth:-169.052691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978042 meters # Minimum depth: 140.752173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 110.752173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785576; longitude = -121.857432; captureRadius = 10; duration = 44; initialDepth = 110.752173; finalDepth = 98.145930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.446955 # Altitude Set: 60 # Vehicle Depth:110.752173 # Seafloor Depth:-189.199128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978047 meters # Minimum depth: 159.242033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 129.242033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786080; longitude = -121.857408; captureRadius = 10; duration = 44; initialDepth = 129.242033; finalDepth = 110.752173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.446955 # Altitude Set: 60 # Vehicle Depth:129.242033 # Seafloor Depth:-192.482973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978051 meters # Minimum depth: 179.336867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 149.336867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786584; longitude = -121.857383; captureRadius = 10; duration = 44; initialDepth = 149.336867; finalDepth = 129.242033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.24094 # Altitude Set: 60 # Vehicle Depth:149.336867 # Seafloor Depth:-197.345166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978056 meters # Minimum depth: 191.153742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 161.153742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787088; longitude = -121.857359; captureRadius = 10; duration = 44; initialDepth = 161.153742; finalDepth = 149.336867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 48.008299 # Altitude Set: 48.008299 # Vehicle Depth:161.153742 # Seafloor Depth:-202.892344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 115.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 115.22; MB_Bottom_Detect_Filter_Min_Depth = 36.01; MB_Bottom_Detect_Filter_Max_Depth = 62.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978060 meters # Minimum depth: 194.912700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 164.912700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787593; longitude = -121.857335; captureRadius = 10; duration = 44; initialDepth = 164.912700; finalDepth = 161.153742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 41.738602 # Altitude Set: 41.738602 # Vehicle Depth:164.9127 # Seafloor Depth:-206.316830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 100.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 100.17; MB_Bottom_Detect_Filter_Min_Depth = 31.30; MB_Bottom_Detect_Filter_Max_Depth = 54.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978064 meters # Minimum depth: 199.784379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 169.784379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788097; longitude = -121.857311; captureRadius = 10; duration = 44; initialDepth = 169.784379; finalDepth = 164.912700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 41.40413 # Altitude Set: 41.40413 # Vehicle Depth:169.784379 # Seafloor Depth:-208.704483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 99.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 99.37; MB_Bottom_Detect_Filter_Min_Depth = 31.05; MB_Bottom_Detect_Filter_Max_Depth = 53.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978069 meters # Minimum depth: 203.676391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 173.676391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788601; longitude = -121.857287; captureRadius = 10; duration = 44; initialDepth = 173.676391; finalDepth = 169.784379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 38.920104 # Altitude Set: 38.920104 # Vehicle Depth:173.676391 # Seafloor Depth:-211.859046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 93.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 93.41; MB_Bottom_Detect_Filter_Min_Depth = 29.19; MB_Bottom_Detect_Filter_Max_Depth = 50.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978073 meters # Minimum depth: 208.005675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 178.005675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789105; longitude = -121.857262; captureRadius = 10; duration = 44; initialDepth = 178.005675; finalDepth = 173.676391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 38.182655 # Altitude Set: 38.182655 # Vehicle Depth:178.005675 # Seafloor Depth:-214.626407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 91.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.64; MB_Bottom_Detect_Filter_Max_Range = 91.64; MB_Bottom_Detect_Filter_Min_Depth = 28.64; MB_Bottom_Detect_Filter_Max_Depth = 49.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978078 meters # Minimum depth: 210.662674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 180.662674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789609; longitude = -121.857238; captureRadius = 10; duration = 44; initialDepth = 180.662674; finalDepth = 178.005675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 37.522073 # Altitude Set: 37.522073 # Vehicle Depth:180.662674 # Seafloor Depth:-218.184747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 90.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 90.05; MB_Bottom_Detect_Filter_Min_Depth = 28.14; MB_Bottom_Detect_Filter_Max_Depth = 48.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.478661 meters # Minimum depth: 211.313104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 181.313104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790114; longitude = -121.857214; captureRadius = 10; duration = 41; initialDepth = 181.313104; finalDepth = 180.662674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 43.474999 # Altitude Set: 43.474999 # Vehicle Depth:181.313104 # Seafloor Depth:-224.788103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 104.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 104.34; MB_Bottom_Detect_Filter_Min_Depth = 32.61; MB_Bottom_Detect_Filter_Max_Depth = 56.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.257720 meters # Minimum depth: 214.653395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 184.653395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790577; longitude = -121.857192; captureRadius = 10; duration = 43; initialDepth = 184.653395; finalDepth = 181.313104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 47.485056 # Altitude Set: 47.485056 # Vehicle Depth:184.653395 # Seafloor Depth:-232.138451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 113.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.61; MB_Bottom_Detect_Filter_Max_Range = 113.96; MB_Bottom_Detect_Filter_Min_Depth = 35.61; MB_Bottom_Detect_Filter_Max_Depth = 61.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978090 meters # Minimum depth: 219.800476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 189.800476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791066; longitude = -121.857168; captureRadius = 10; duration = 44; initialDepth = 189.800476; finalDepth = 184.653395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 47.485056 # Altitude Set: 47.485056 # Vehicle Depth:189.800476 # Seafloor Depth:-235.524482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 113.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.61; MB_Bottom_Detect_Filter_Max_Range = 113.96; MB_Bottom_Detect_Filter_Min_Depth = 35.61; MB_Bottom_Detect_Filter_Max_Depth = 61.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978095 meters # Minimum depth: 227.800337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 197.800337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791570; longitude = -121.857144; captureRadius = 10; duration = 44; initialDepth = 197.800337; finalDepth = 189.800476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 45.724006 # Altitude Set: 45.724006 # Vehicle Depth:197.800337 # Seafloor Depth:-241.619097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 109.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.29; MB_Bottom_Detect_Filter_Max_Range = 109.74; MB_Bottom_Detect_Filter_Min_Depth = 34.29; MB_Bottom_Detect_Filter_Max_Depth = 59.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978099 meters # Minimum depth: 234.682764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792074; longitude = -121.857120; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 197.800337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 44.070535 # Altitude Set: 44.070535 # Vehicle Depth:200 # Seafloor Depth:-244.070535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 105.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 105.77; MB_Bottom_Detect_Filter_Min_Depth = 33.05; MB_Bottom_Detect_Filter_Max_Depth = 57.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978104 meters # Minimum depth: 236.965215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792579; longitude = -121.857096; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 46.023037 # Altitude Set: 46.023037 # Vehicle Depth:200 # Seafloor Depth:-246.023037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 110.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 110.46; MB_Bottom_Detect_Filter_Min_Depth = 34.52; MB_Bottom_Detect_Filter_Max_Depth = 59.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978108 meters # Minimum depth: 239.301566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793083; longitude = -121.857072; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 46.023037 # Altitude Set: 46.023037 # Vehicle Depth:200 # Seafloor Depth:-243.568275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 110.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 110.46; MB_Bottom_Detect_Filter_Min_Depth = 34.52; MB_Bottom_Detect_Filter_Max_Depth = 59.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978112 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793587; longitude = -121.857047; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 43.568275 # Altitude Set: 43.568275 # Vehicle Depth:200 # Seafloor Depth:-238.792071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 104.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 104.56; MB_Bottom_Detect_Filter_Min_Depth = 32.68; MB_Bottom_Detect_Filter_Max_Depth = 56.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978117 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794091; longitude = -121.857023; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 38.892577 # Altitude Set: 38.892577 # Vehicle Depth:200 # Seafloor Depth:-238.892577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 93.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.17; MB_Bottom_Detect_Filter_Max_Range = 93.34; MB_Bottom_Detect_Filter_Min_Depth = 29.17; MB_Bottom_Detect_Filter_Max_Depth = 50.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978121 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794595; longitude = -121.856999; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 39.404096 # Altitude Set: 39.404096 # Vehicle Depth:200 # Seafloor Depth:-239.404096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 94.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.55; MB_Bottom_Detect_Filter_Max_Range = 94.57; MB_Bottom_Detect_Filter_Min_Depth = 29.55; MB_Bottom_Detect_Filter_Max_Depth = 51.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978126 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795099; longitude = -121.856975; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.477607 # Altitude Set: 50.477607 # Vehicle Depth:200 # Seafloor Depth:-250.477607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.86; MB_Bottom_Detect_Filter_Max_Range = 121.15; MB_Bottom_Detect_Filter_Min_Depth = 37.86; MB_Bottom_Detect_Filter_Max_Depth = 65.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978130 meters # Minimum depth: 238.352383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795604; longitude = -121.856951; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.427726 # Altitude Set: 59.427726 # Vehicle Depth:200 # Seafloor Depth:-259.427726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.57; MB_Bottom_Detect_Filter_Max_Range = 142.63; MB_Bottom_Detect_Filter_Min_Depth = 44.57; MB_Bottom_Detect_Filter_Max_Depth = 77.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978135 meters # Minimum depth: 241.443767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796108; longitude = -121.856926; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.70018 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-272.700180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978139 meters # Minimum depth: 254.542256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796612; longitude = -121.856902; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.819406 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-282.819406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.140398 meters # Minimum depth: 265.000136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797116; longitude = -121.856878; captureRadius = 10; duration = 41; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.819406 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-282.444204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.596098 meters # Minimum depth: 276.649298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797586; longitude = -121.856856; captureRadius = 10; duration = 42; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.444204 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-282.093031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978152 meters # Minimum depth: 281.454575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798069; longitude = -121.856832; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.234224 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-282.234224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978156 meters # Minimum depth: 281.454575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798573; longitude = -121.856808; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.926654 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-285.926654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978161 meters # Minimum depth: 281.578331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799077; longitude = -121.856784; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.17025 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-292.170250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978165 meters # Minimum depth: 283.491015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799581; longitude = -121.856760; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.528028 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-317.528028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978169 meters # Minimum depth: 287.911796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.800085; longitude = -121.856736; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.360825 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-330.360825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978174 meters # Minimum depth: 300.457248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.800590; longitude = -121.856711; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.775609 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-330.775609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978178 meters # Minimum depth: 318.567950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.801094; longitude = -121.856687; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 132.930928 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-332.930928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978183 meters # Minimum depth: 329.502668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.801598; longitude = -121.856663; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 136.278824 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-336.278824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978187 meters # Minimum depth: 331.783745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.802102; longitude = -121.856639; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.411245 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-337.411245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978191 meters # Minimum depth: 317.381594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.802606; longitude = -121.856615; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.411245 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-330.573952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978196 meters # Minimum depth: 302.424430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.803110; longitude = -121.856590; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.573952 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-315.924448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978200 meters # Minimum depth: 271.236788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.803615; longitude = -121.856566; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 115.924448 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-299.230650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978205 meters # Minimum depth: 260.559828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.804119; longitude = -121.856542; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 99.23065 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-268.607764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978209 meters # Minimum depth: 246.603344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.804623; longitude = -121.856518; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.607764 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-260.183056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978213 meters # Minimum depth: 237.730823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.805127; longitude = -121.856494; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.183056 # Altitude Set: 60 # Vehicle Depth:200 # Seafloor Depth:-244.756083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978218 meters # Minimum depth: 237.224851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.805631; longitude = -121.856470; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 44.756083 # Altitude Set: 44.756083 # Vehicle Depth:200 # Seafloor Depth:-237.741496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 107.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 107.41; MB_Bottom_Detect_Filter_Min_Depth = 33.57; MB_Bottom_Detect_Filter_Max_Depth = 58.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978222 meters # Minimum depth: 237.144555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806136; longitude = -121.856445; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 37.812006 # Altitude Set: 37.812006 # Vehicle Depth:200 # Seafloor Depth:-237.812006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 90.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.36; MB_Bottom_Detect_Filter_Max_Range = 90.75; MB_Bottom_Detect_Filter_Min_Depth = 28.36; MB_Bottom_Detect_Filter_Max_Depth = 49.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978227 meters # Minimum depth: 233.601691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806640; longitude = -121.856421; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 37.812006 # Altitude Set: 37.812006 # Vehicle Depth:200 # Seafloor Depth:-236.866971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 90.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.36; MB_Bottom_Detect_Filter_Max_Range = 90.75; MB_Bottom_Detect_Filter_Min_Depth = 28.36; MB_Bottom_Detect_Filter_Max_Depth = 49.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978231 meters # Minimum depth: 230.811337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807144; longitude = -121.856397; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.866971 # Altitude Set: 36.866971 # Vehicle Depth:200 # Seafloor Depth:-233.740085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 88.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.65; MB_Bottom_Detect_Filter_Max_Range = 88.48; MB_Bottom_Detect_Filter_Min_Depth = 27.65; MB_Bottom_Detect_Filter_Max_Depth = 47.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.023104 meters # Minimum depth: 216.741251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 186.741251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807648; longitude = -121.856373; captureRadius = 10; duration = 40; initialDepth = 186.741251; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 43.09131 # Altitude Set: 43.09131 # Vehicle Depth:186.741251 # Seafloor Depth:-229.832561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 103.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 103.42; MB_Bottom_Detect_Filter_Min_Depth = 32.32; MB_Bottom_Detect_Filter_Max_Depth = 56.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.713567 meters # Minimum depth: 201.964124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 171.964124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808099; longitude = -121.856351; captureRadius = 10; duration = 44; initialDepth = 171.964124; finalDepth = 186.741251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 44.700596 # Altitude Set: 44.700596 # Vehicle Depth:171.964124 # Seafloor Depth:-216.664720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 107.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 107.28; MB_Bottom_Detect_Filter_Min_Depth = 33.53; MB_Bottom_Detect_Filter_Max_Depth = 58.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978244 meters # Minimum depth: 190.209577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 160.209577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808601; longitude = -121.856327; captureRadius = 10; duration = 44; initialDepth = 160.209577; finalDepth = 171.964124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 44.700596 # Altitude Set: 44.700596 # Vehicle Depth:160.209577 # Seafloor Depth:-200.165143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 107.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 107.28; MB_Bottom_Detect_Filter_Min_Depth = 33.53; MB_Bottom_Detect_Filter_Max_Depth = 58.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978248 meters # Minimum depth: 185.682103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 155.682103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809105; longitude = -121.856303; captureRadius = 10; duration = 44; initialDepth = 155.682103; finalDepth = 160.209577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 39.955566 # Altitude Set: 39.955566 # Vehicle Depth:155.682103 # Seafloor Depth:-189.735366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 95.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 95.89; MB_Bottom_Detect_Filter_Min_Depth = 29.97; MB_Bottom_Detect_Filter_Max_Depth = 51.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978253 meters # Minimum depth: 184.969768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 154.969768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809609; longitude = -121.856279; captureRadius = 10; duration = 44; initialDepth = 154.969768; finalDepth = 155.682103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.053263 # Altitude Set: 34.053263 # Vehicle Depth:154.969768 # Seafloor Depth:-185.515642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 81.73; MB_Bottom_Detect_Filter_Min_Depth = 25.54; MB_Bottom_Detect_Filter_Max_Depth = 44.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978257 meters # Minimum depth: 184.960755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 154.960755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810113; longitude = -121.856255; captureRadius = 10; duration = 44; initialDepth = 154.960755; finalDepth = 154.969768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.545874 # Altitude Set: 30.545874 # Vehicle Depth:154.960755 # Seafloor Depth:-184.960755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 73.31; MB_Bottom_Detect_Filter_Min_Depth = 22.91; MB_Bottom_Detect_Filter_Max_Depth = 39.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978261 meters # Minimum depth: 183.223680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 153.223680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810617; longitude = -121.856230; captureRadius = 10; duration = 44; initialDepth = 153.223680; finalDepth = 154.960755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.890025 # Altitude Set: 31.890025 # Vehicle Depth:153.22368 # Seafloor Depth:-185.113705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 76.54; MB_Bottom_Detect_Filter_Min_Depth = 23.92; MB_Bottom_Detect_Filter_Max_Depth = 41.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978266 meters # Minimum depth: 178.096682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 148.096682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811121; longitude = -121.856206; captureRadius = 10; duration = 44; initialDepth = 148.096682; finalDepth = 153.223680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.771406 # Altitude Set: 34.771406 # Vehicle Depth:148.096682 # Seafloor Depth:-182.868088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 83.45; MB_Bottom_Detect_Filter_Min_Depth = 26.08; MB_Bottom_Detect_Filter_Max_Depth = 45.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978271 meters # Minimum depth: 171.493002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 141.493002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811626; longitude = -121.856182; captureRadius = 10; duration = 44; initialDepth = 141.493002; finalDepth = 148.096682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.379165 # Altitude Set: 36.379165 # Vehicle Depth:141.493002 # Seafloor Depth:-177.872167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 87.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 87.31; MB_Bottom_Detect_Filter_Min_Depth = 27.28; MB_Bottom_Detect_Filter_Max_Depth = 47.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978275 meters # Minimum depth: 166.805370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 136.805370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812130; longitude = -121.856158; captureRadius = 10; duration = 44; initialDepth = 136.805370; finalDepth = 141.493002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.379165 # Altitude Set: 36.379165 # Vehicle Depth:136.80537 # Seafloor Depth:-170.726519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 87.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 87.31; MB_Bottom_Detect_Filter_Min_Depth = 27.28; MB_Bottom_Detect_Filter_Max_Depth = 47.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978279 meters # Minimum depth: 163.259421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 133.259421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812634; longitude = -121.856134; captureRadius = 10; duration = 44; initialDepth = 133.259421; finalDepth = 136.805370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.921149 # Altitude Set: 33.921149 # Vehicle Depth:133.259421 # Seafloor Depth:-165.977780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 81.41; MB_Bottom_Detect_Filter_Min_Depth = 25.44; MB_Bottom_Detect_Filter_Max_Depth = 44.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978283 meters # Minimum depth: 161.545234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 131.545234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813138; longitude = -121.856109; captureRadius = 10; duration = 44; initialDepth = 131.545234; finalDepth = 133.259421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.718359 # Altitude Set: 32.718359 # Vehicle Depth:131.545234 # Seafloor Depth:-163.104362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 78.52; MB_Bottom_Detect_Filter_Min_Depth = 24.54; MB_Bottom_Detect_Filter_Max_Depth = 42.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978288 meters # Minimum depth: 159.283143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 129.283143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813642; longitude = -121.856085; captureRadius = 10; duration = 44; initialDepth = 129.283143; finalDepth = 131.545234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.05849 # Altitude Set: 32.05849 # Vehicle Depth:129.283143 # Seafloor Depth:-161.341633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 76.94; MB_Bottom_Detect_Filter_Min_Depth = 24.04; MB_Bottom_Detect_Filter_Max_Depth = 41.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978293 meters # Minimum depth: 157.393848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 127.393848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814147; longitude = -121.856061; captureRadius = 10; duration = 44; initialDepth = 127.393848; finalDepth = 129.283143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.05849 # Altitude Set: 32.05849 # Vehicle Depth:127.393848 # Seafloor Depth:-159.128050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 76.94; MB_Bottom_Detect_Filter_Min_Depth = 24.04; MB_Bottom_Detect_Filter_Max_Depth = 41.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.684840 meters # Minimum depth: 155.682414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 125.682414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814651; longitude = -121.856037; captureRadius = 10; duration = 40; initialDepth = 125.682414; finalDepth = 127.393848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.734202 # Altitude Set: 31.734202 # Vehicle Depth:125.682414 # Seafloor Depth:-157.312827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 76.16; MB_Bottom_Detect_Filter_Min_Depth = 23.80; MB_Bottom_Detect_Filter_Max_Depth = 41.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.051946 meters # Minimum depth: 153.853645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 123.853645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815107; longitude = -121.856015; captureRadius = 10; duration = 44; initialDepth = 123.853645; finalDepth = 125.682414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.82145 # Altitude Set: 31.82145 # Vehicle Depth:123.853645 # Seafloor Depth:-155.675095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 76.37; MB_Bottom_Detect_Filter_Min_Depth = 23.87; MB_Bottom_Detect_Filter_Max_Depth = 41.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978305 meters # Minimum depth: 151.599463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 121.599463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815603; longitude = -121.855991; captureRadius = 10; duration = 44; initialDepth = 121.599463; finalDepth = 123.853645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.218208 # Altitude Set: 32.218208 # Vehicle Depth:121.599463 # Seafloor Depth:-153.817671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 77.32; MB_Bottom_Detect_Filter_Min_Depth = 24.16; MB_Bottom_Detect_Filter_Max_Depth = 41.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978310 meters # Minimum depth: 149.827410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 119.827410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816107; longitude = -121.855967; captureRadius = 10; duration = 44; initialDepth = 119.827410; finalDepth = 121.599463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.218208 # Altitude Set: 32.218208 # Vehicle Depth:119.82741 # Seafloor Depth:-151.449486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 77.32; MB_Bottom_Detect_Filter_Min_Depth = 24.16; MB_Bottom_Detect_Filter_Max_Depth = 41.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978314 meters # Minimum depth: 147.967085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 117.967085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816612; longitude = -121.855943; captureRadius = 10; duration = 44; initialDepth = 117.967085; finalDepth = 119.827410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.622076 # Altitude Set: 31.622076 # Vehicle Depth:117.967085 # Seafloor Depth:-149.446229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 75.89; MB_Bottom_Detect_Filter_Min_Depth = 23.72; MB_Bottom_Detect_Filter_Max_Depth = 41.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978318 meters # Minimum depth: 146.283601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 116.283601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817116; longitude = -121.855919; captureRadius = 10; duration = 44; initialDepth = 116.283601; finalDepth = 117.967085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.491775 # Altitude Set: 31.491775 # Vehicle Depth:116.283601 # Seafloor Depth:-147.775376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 75.58; MB_Bottom_Detect_Filter_Min_Depth = 23.62; MB_Bottom_Detect_Filter_Max_Depth = 40.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978323 meters # Minimum depth: 145.455620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 115.455620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817620; longitude = -121.855894; captureRadius = 10; duration = 44; initialDepth = 115.455620; finalDepth = 116.283601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.491775 # Altitude Set: 31.491775 # Vehicle Depth:115.45562 # Seafloor Depth:-146.721111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 75.58; MB_Bottom_Detect_Filter_Min_Depth = 23.62; MB_Bottom_Detect_Filter_Max_Depth = 40.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978328 meters # Minimum depth: 144.212586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 114.212586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818124; longitude = -121.855870; captureRadius = 10; duration = 44; initialDepth = 114.212586; finalDepth = 115.455620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.265491 # Altitude Set: 31.265491 # Vehicle Depth:114.212586 # Seafloor Depth:-145.366821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.04; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 75.04; MB_Bottom_Detect_Filter_Min_Depth = 23.45; MB_Bottom_Detect_Filter_Max_Depth = 40.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978331 meters # Minimum depth: 143.625693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 113.625693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818628; longitude = -121.855846; captureRadius = 10; duration = 44; initialDepth = 113.625693; finalDepth = 114.212586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.154235 # Altitude Set: 31.154235 # Vehicle Depth:113.625693 # Seafloor Depth:-144.164401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 74.77; MB_Bottom_Detect_Filter_Min_Depth = 23.37; MB_Bottom_Detect_Filter_Max_Depth = 40.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978336 meters # Minimum depth: 143.021195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 113.021195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819132; longitude = -121.855822; captureRadius = 10; duration = 44; initialDepth = 113.021195; finalDepth = 113.625693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.898099 # Altitude Set: 30.898099 # Vehicle Depth:113.021195 # Seafloor Depth:-143.919294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 74.16; MB_Bottom_Detect_Filter_Min_Depth = 23.17; MB_Bottom_Detect_Filter_Max_Depth = 40.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978341 meters # Minimum depth: 142.097026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 112.097026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819637; longitude = -121.855798; captureRadius = 10; duration = 44; initialDepth = 112.097026; finalDepth = 113.021195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.898099 # Altitude Set: 30.898099 # Vehicle Depth:112.097026 # Seafloor Depth:-142.969110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 74.16; MB_Bottom_Detect_Filter_Min_Depth = 23.17; MB_Bottom_Detect_Filter_Max_Depth = 40.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978345 meters # Minimum depth: 140.745450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 110.745450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820141; longitude = -121.855773; captureRadius = 10; duration = 44; initialDepth = 110.745450; finalDepth = 112.097026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.189195 # Altitude Set: 31.189195 # Vehicle Depth:110.74545 # Seafloor Depth:-141.934645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 74.85; MB_Bottom_Detect_Filter_Min_Depth = 23.39; MB_Bottom_Detect_Filter_Max_Depth = 40.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978349 meters # Minimum depth: 139.938750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 109.938750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820645; longitude = -121.855749; captureRadius = 10; duration = 44; initialDepth = 109.938750; finalDepth = 110.745450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.189195 # Altitude Set: 31.189195 # Vehicle Depth:109.93875 # Seafloor Depth:-140.576586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 74.85; MB_Bottom_Detect_Filter_Min_Depth = 23.39; MB_Bottom_Detect_Filter_Max_Depth = 40.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978354 meters # Minimum depth: 138.825030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 108.825030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821149; longitude = -121.855725; captureRadius = 10; duration = 44; initialDepth = 108.825030; finalDepth = 109.938750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.535966 # Altitude Set: 31.535966 # Vehicle Depth:108.82503 # Seafloor Depth:-140.360996 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 75.69; MB_Bottom_Detect_Filter_Min_Depth = 23.65; MB_Bottom_Detect_Filter_Max_Depth = 41.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.346579 meters # Minimum depth: 135.990738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 105.990738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821653; longitude = -121.855701; captureRadius = 10; duration = 41; initialDepth = 105.990738; finalDepth = 108.825030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.310453 # Altitude Set: 32.310453 # Vehicle Depth:105.990738 # Seafloor Depth:-138.301191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.23; MB_Bottom_Detect_Filter_Max_Range = 77.55; MB_Bottom_Detect_Filter_Min_Depth = 24.23; MB_Bottom_Detect_Filter_Max_Depth = 42.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.390323 meters # Minimum depth: 134.953535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 104.953535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822116; longitude = -121.855679; captureRadius = 10; duration = 43; initialDepth = 104.953535; finalDepth = 105.990738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.310453 # Altitude Set: 32.310453 # Vehicle Depth:104.953535 # Seafloor Depth:-135.903928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.23; MB_Bottom_Detect_Filter_Max_Range = 77.55; MB_Bottom_Detect_Filter_Min_Depth = 24.23; MB_Bottom_Detect_Filter_Max_Depth = 42.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978367 meters # Minimum depth: 131.979577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 101.979577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822606; longitude = -121.855655; captureRadius = 10; duration = 44; initialDepth = 101.979577; finalDepth = 104.953535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.718432 # Altitude Set: 32.718432 # Vehicle Depth:101.979577 # Seafloor Depth:-134.698009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 78.52; MB_Bottom_Detect_Filter_Min_Depth = 24.54; MB_Bottom_Detect_Filter_Max_Depth = 42.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978370 meters # Minimum depth: 128.029774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.029774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823110; longitude = -121.855631; captureRadius = 10; duration = 44; initialDepth = 98.029774; finalDepth = 101.979577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.209024 # Altitude Set: 33.209024 # Vehicle Depth:98.029774 # Seafloor Depth:-131.238798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 79.70; MB_Bottom_Detect_Filter_Min_Depth = 24.91; MB_Bottom_Detect_Filter_Max_Depth = 43.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978376 meters # Minimum depth: 125.070281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 95.070281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823614; longitude = -121.855607; captureRadius = 10; duration = 44; initialDepth = 95.070281; finalDepth = 98.029774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.209024 # Altitude Set: 33.209024 # Vehicle Depth:95.070281 # Seafloor Depth:-127.672818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 79.70; MB_Bottom_Detect_Filter_Min_Depth = 24.91; MB_Bottom_Detect_Filter_Max_Depth = 43.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978379 meters # Minimum depth: 121.109171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.109171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824118; longitude = -121.855583; captureRadius = 10; duration = 44; initialDepth = 91.109171; finalDepth = 95.070281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.25187 # Altitude Set: 33.25187 # Vehicle Depth:91.109171 # Seafloor Depth:-124.361041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 79.80; MB_Bottom_Detect_Filter_Min_Depth = 24.94; MB_Bottom_Detect_Filter_Max_Depth = 43.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978385 meters # Minimum depth: 116.977871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.977871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824623; longitude = -121.855558; captureRadius = 10; duration = 44; initialDepth = 86.977871; finalDepth = 91.109171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.695415 # Altitude Set: 33.695415 # Vehicle Depth:86.977871 # Seafloor Depth:-120.673286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 80.87; MB_Bottom_Detect_Filter_Min_Depth = 25.27; MB_Bottom_Detect_Filter_Max_Depth = 43.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978388 meters # Minimum depth: 109.819402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.819402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825127; longitude = -121.855534; captureRadius = 10; duration = 44; initialDepth = 79.819402; finalDepth = 86.977871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.140015 # Altitude Set: 36.140015 # Vehicle Depth:79.819402 # Seafloor Depth:-115.959417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 86.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 86.74; MB_Bottom_Detect_Filter_Min_Depth = 27.11; MB_Bottom_Detect_Filter_Max_Depth = 46.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978393 meters # Minimum depth: 105.308783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.308783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825631; longitude = -121.855510; captureRadius = 10; duration = 44; initialDepth = 75.308783; finalDepth = 79.819402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.140015 # Altitude Set: 36.140015 # Vehicle Depth:75.308783 # Seafloor Depth:-109.707514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 86.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 86.74; MB_Bottom_Detect_Filter_Min_Depth = 27.11; MB_Bottom_Detect_Filter_Max_Depth = 46.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978397 meters # Minimum depth: 100.739649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 70.739649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826135; longitude = -121.855486; captureRadius = 10; duration = 44; initialDepth = 70.739649; finalDepth = 75.308783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.398731 # Altitude Set: 34.398731 # Vehicle Depth:70.739649 # Seafloor Depth:-104.460166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 82.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 82.56; MB_Bottom_Detect_Filter_Min_Depth = 25.80; MB_Bottom_Detect_Filter_Max_Depth = 44.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978402 meters # Minimum depth: 96.647621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 66.647621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826639; longitude = -121.855462; captureRadius = 10; duration = 44; initialDepth = 66.647621; finalDepth = 70.739649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.720517 # Altitude Set: 33.720517 # Vehicle Depth:66.647621 # Seafloor Depth:-100.257280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 80.93; MB_Bottom_Detect_Filter_Min_Depth = 25.29; MB_Bottom_Detect_Filter_Max_Depth = 43.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978406 meters # Minimum depth: 93.351625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 63.351625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827143; longitude = -121.855438; captureRadius = 10; duration = 44; initialDepth = 63.351625; finalDepth = 66.647621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.609659 # Altitude Set: 33.609659 # Vehicle Depth:63.351625 # Seafloor Depth:-96.330956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 80.66; MB_Bottom_Detect_Filter_Min_Depth = 25.21; MB_Bottom_Detect_Filter_Max_Depth = 43.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978411 meters # Minimum depth: 90.819067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.819067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827648; longitude = -121.855413; captureRadius = 10; duration = 44; initialDepth = 60.819067; finalDepth = 63.351625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.979331 # Altitude Set: 32.979331 # Vehicle Depth:60.819067 # Seafloor Depth:-92.987407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 79.15; MB_Bottom_Detect_Filter_Min_Depth = 24.73; MB_Bottom_Detect_Filter_Max_Depth = 42.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978415 meters # Minimum depth: 87.743803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.743803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828152; longitude = -121.855389; captureRadius = 10; duration = 44; initialDepth = 57.743803; finalDepth = 60.819067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.49509 # Altitude Set: 32.49509 # Vehicle Depth:57.743803 # Seafloor Depth:-90.238893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 77.99; MB_Bottom_Detect_Filter_Min_Depth = 24.37; MB_Bottom_Detect_Filter_Max_Depth = 42.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.008319 meters # Minimum depth: 85.162345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 55.162345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828656; longitude = -121.855365; captureRadius = 10; duration = 41; initialDepth = 55.162345; finalDepth = 57.743803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.49509 # Altitude Set: 32.49509 # Vehicle Depth:55.162345 # Seafloor Depth:-87.319757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 77.99; MB_Bottom_Detect_Filter_Min_Depth = 24.37; MB_Bottom_Detect_Filter_Max_Depth = 42.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.728699 meters # Minimum depth: 82.994655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.994655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829124; longitude = -121.855342; captureRadius = 10; duration = 42; initialDepth = 52.994655; finalDepth = 55.162345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.320186 # Altitude Set: 32.320186 # Vehicle Depth:52.994655 # Seafloor Depth:-85.314841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 77.57; MB_Bottom_Detect_Filter_Min_Depth = 24.24; MB_Bottom_Detect_Filter_Max_Depth = 42.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978428 meters # Minimum depth: 80.780433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 50.780433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829608; longitude = -121.855319; captureRadius = 10; duration = 44; initialDepth = 50.780433; finalDepth = 52.994655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.320186 # Altitude Set: 32.320186 # Vehicle Depth:50.780433 # Seafloor Depth:-82.764987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 77.57; MB_Bottom_Detect_Filter_Min_Depth = 24.24; MB_Bottom_Detect_Filter_Max_Depth = 42.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978432 meters # Minimum depth: 78.561790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 48.561790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830113; longitude = -121.855295; captureRadius = 10; duration = 44; initialDepth = 48.561790; finalDepth = 50.780433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.984554 # Altitude Set: 31.984554 # Vehicle Depth:48.56179 # Seafloor Depth:-80.401614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 76.76; MB_Bottom_Detect_Filter_Min_Depth = 23.99; MB_Bottom_Detect_Filter_Max_Depth = 41.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978437 meters # Minimum depth: 76.328623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.328623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830617; longitude = -121.855271; captureRadius = 10; duration = 44; initialDepth = 46.328623; finalDepth = 48.561790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.839824 # Altitude Set: 31.839824 # Vehicle Depth:46.328623 # Seafloor Depth:-78.136490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 76.42; MB_Bottom_Detect_Filter_Min_Depth = 23.88; MB_Bottom_Detect_Filter_Max_Depth = 41.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978441 meters # Minimum depth: 73.831794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 43.831794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831121; longitude = -121.855247; captureRadius = 10; duration = 44; initialDepth = 43.831794; finalDepth = 46.328623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.113477 # Altitude Set: 32.113477 # Vehicle Depth:43.831794 # Seafloor Depth:-75.945271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 77.07; MB_Bottom_Detect_Filter_Min_Depth = 24.09; MB_Bottom_Detect_Filter_Max_Depth = 41.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978445 meters # Minimum depth: 71.992601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 41.992601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831625; longitude = -121.855222; captureRadius = 10; duration = 44; initialDepth = 41.992601; finalDepth = 43.831794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.113477 # Altitude Set: 32.113477 # Vehicle Depth:41.992601 # Seafloor Depth:-73.516862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 77.07; MB_Bottom_Detect_Filter_Min_Depth = 24.09; MB_Bottom_Detect_Filter_Max_Depth = 41.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.449103 meters # Minimum depth: 69.999328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 39.999328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832129; longitude = -121.855198; captureRadius = 10; duration = 44; initialDepth = 39.999328; finalDepth = 41.992601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.524261 # Altitude Set: 31.524261 # Vehicle Depth:39.999328 # Seafloor Depth:-71.488587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 75.66; MB_Bottom_Detect_Filter_Min_Depth = 23.64; MB_Bottom_Detect_Filter_Max_Depth = 40.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.287973 meters # Minimum depth: 68.269510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 38.269510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832629; longitude = -121.855174; captureRadius = 10; duration = 40; initialDepth = 38.269510; finalDepth = 39.999328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.726441 # Altitude Set: 31.726441 # Vehicle Depth:38.26951 # Seafloor Depth:-69.995951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 76.14; MB_Bottom_Detect_Filter_Min_Depth = 23.79; MB_Bottom_Detect_Filter_Max_Depth = 41.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978458 meters # Minimum depth: 66.305058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 36.305058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833082; longitude = -121.855153; captureRadius = 10; duration = 44; initialDepth = 36.305058; finalDepth = 38.269510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.726441 # Altitude Set: 31.726441 # Vehicle Depth:36.305058 # Seafloor Depth:-67.968540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 76.14; MB_Bottom_Detect_Filter_Min_Depth = 23.79; MB_Bottom_Detect_Filter_Max_Depth = 41.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.978463 meters # Minimum depth: 64.380638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 34.380638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833586; longitude = -121.855128; captureRadius = 10; duration = 44; initialDepth = 34.380638; finalDepth = 36.305058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.816643 # Altitude Set: 31.816643 # Vehicle Depth:34.380638 # Seafloor Depth:-66.197281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 76.36; MB_Bottom_Detect_Filter_Min_Depth = 23.86; MB_Bottom_Detect_Filter_Max_Depth = 41.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.905190 meters # Minimum depth: 63.038350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 33.038350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834090; longitude = -121.855104; captureRadius = 10; duration = 43; initialDepth = 33.038350; finalDepth = 34.380638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.816643 # Altitude Set: 31.816643 # Vehicle Depth:33.03835 # Seafloor Depth:-64.287176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 76.36; MB_Bottom_Detect_Filter_Min_Depth = 23.86; MB_Bottom_Detect_Filter_Max_Depth = 41.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Edgetech sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 31.248826 # Altitude Set: 31.248826 # Vehicle Depth:32.919902 # Seafloor Depth:-62.919902 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 75.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 75.00; MB_Bottom_Detect_Filter_Min_Depth = 23.44; MB_Bottom_Detect_Filter_Max_Depth = 40.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 750.000000 meters # Minimum depth: 62.919902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 32.919902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834576; longitude = -121.855081; captureRadius = 10; duration = 600; initialDepth = 32.919902; finalDepth = 33.038350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 181.524030; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 181.524030; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################