# 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: # 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_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; } # ####################################################### # ALTITUDE: 18.018799 VEHICLE DEPTH:54.958984 TOPO:-72.977783 # ####################################################### # 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.958984 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.779675; longitude = -121.857715; captureRadius = 10; duration = 36; initialDepth = 54.958984; finalDepth = 54.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # ALTITUDE: 18.578297 VEHICLE DEPTH:54.958984 TOPO:-73.537281 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 44.59; MB_Range = 44.59; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 44.59; MB_Bottom_Detect_Filter_Min_Depth = 13.93; MB_Bottom_Detect_Filter_Max_Depth = 24.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.958984 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.780086; longitude = -121.857695; captureRadius = 10; duration = 44; initialDepth = 54.958984; finalDepth = 54.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.482412 VEHICLE DEPTH:54.958984 TOPO:-74.441396 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.76; MB_Range = 46.76; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.61; MB_Bottom_Detect_Filter_Max_Range = 46.76; MB_Bottom_Detect_Filter_Min_Depth = 14.61; MB_Bottom_Detect_Filter_Max_Depth = 25.33; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.958984 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.780590; longitude = -121.857671; captureRadius = 10; duration = 44; initialDepth = 54.958984; finalDepth = 54.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 22.003065 VEHICLE DEPTH:54.958984 TOPO:-76.962049 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 52.81; MB_Range = 52.81; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 52.81; MB_Bottom_Detect_Filter_Min_Depth = 16.50; MB_Bottom_Detect_Filter_Max_Depth = 28.60; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.958984 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.781094; longitude = -121.857647; captureRadius = 10; duration = 44; initialDepth = 54.958984; finalDepth = 54.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 26.287068 VEHICLE DEPTH:55.133705 TOPO:-81.420773 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 63.09; MB_Range = 63.09; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.72; MB_Bottom_Detect_Filter_Max_Range = 63.09; MB_Bottom_Detect_Filter_Min_Depth = 19.72; MB_Bottom_Detect_Filter_Max_Depth = 34.17; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 55.133705 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.781598; longitude = -121.857623; captureRadius = 10; duration = 44; initialDepth = 55.133705; finalDepth = 54.958984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 30.73465 VEHICLE DEPTH:57.41321 TOPO:-88.147860 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 73.76; MB_Range = 73.76; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 73.76; MB_Bottom_Detect_Filter_Min_Depth = 23.05; MB_Bottom_Detect_Filter_Max_Depth = 39.96; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.413210 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.782103; longitude = -121.857598; captureRadius = 10; duration = 44; initialDepth = 57.413210; finalDepth = 55.133705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 38.580182 VEHICLE DEPTH:60.572726 TOPO:-99.152908 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 92.59; MB_Range = 92.59; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.94; MB_Bottom_Detect_Filter_Max_Range = 92.59; MB_Bottom_Detect_Filter_Min_Depth = 28.94; MB_Bottom_Detect_Filter_Max_Depth = 50.15; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.572726 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.782607; longitude = -121.857574; captureRadius = 10; duration = 44; initialDepth = 60.572726; finalDepth = 57.413210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 46.37574 VEHICLE DEPTH:66.404094 TOPO:-112.779834 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 111.30; MB_Range = 111.30; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 111.30; MB_Bottom_Detect_Filter_Min_Depth = 34.78; MB_Bottom_Detect_Filter_Max_Depth = 60.29; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 66.404094 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.783111; longitude = -121.857550; captureRadius = 10; duration = 40; initialDepth = 66.404094; finalDepth = 60.572726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 51.210129 VEHICLE DEPTH:73.076321 TOPO:-124.286450 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 122.90; MB_Range = 122.90; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.41; MB_Bottom_Detect_Filter_Max_Range = 122.90; MB_Bottom_Detect_Filter_Min_Depth = 38.41; MB_Bottom_Detect_Filter_Max_Depth = 66.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 73.076321 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.783569; longitude = -121.857528; captureRadius = 10; duration = 43; initialDepth = 73.076321; finalDepth = 66.404094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 51.210129 VEHICLE DEPTH:85.693965 TOPO:-135.900604 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 122.90; MB_Range = 122.90; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.41; MB_Bottom_Detect_Filter_Max_Range = 122.90; MB_Bottom_Detect_Filter_Min_Depth = 38.41; MB_Bottom_Detect_Filter_Max_Depth = 66.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 85.693965 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.784063; longitude = -121.857504; captureRadius = 10; duration = 44; initialDepth = 85.693965; finalDepth = 73.076321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 50.206639 VEHICLE DEPTH:99.264777 TOPO:-149.412271 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 120.50; MB_Range = 120.50; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 120.50; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 65.27; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 99.264777 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.784568; longitude = -121.857480; captureRadius = 10; duration = 44; initialDepth = 99.264777; finalDepth = 85.693965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 58.906761 VEHICLE DEPTH:110.14593 TOPO:-169.052691 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 141.38; MB_Range = 141.38; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.18; MB_Bottom_Detect_Filter_Max_Range = 141.38; MB_Bottom_Detect_Filter_Min_Depth = 44.18; MB_Bottom_Detect_Filter_Max_Depth = 76.58; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 110.145930 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.785072; longitude = -121.857456; captureRadius = 10; duration = 44; initialDepth = 110.145930; finalDepth = 99.264777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 66.446955 VEHICLE DEPTH:122.752173 TOPO:-189.199128 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 159.47; MB_Range = 159.47; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.84; MB_Bottom_Detect_Filter_Max_Range = 159.47; MB_Bottom_Detect_Filter_Min_Depth = 49.84; MB_Bottom_Detect_Filter_Max_Depth = 86.38; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 122.752173 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.785576; longitude = -121.857432; captureRadius = 10; duration = 44; initialDepth = 122.752173; finalDepth = 110.145930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 66.446955 VEHICLE DEPTH:141.242033 TOPO:-192.482973 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 159.47; MB_Range = 159.47; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.84; MB_Bottom_Detect_Filter_Max_Range = 159.47; MB_Bottom_Detect_Filter_Min_Depth = 49.84; MB_Bottom_Detect_Filter_Max_Depth = 86.38; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 141.242033 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.786080; longitude = -121.857408; captureRadius = 10; duration = 44; initialDepth = 141.242033; finalDepth = 122.752173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 51.24094 VEHICLE DEPTH:161.336867 TOPO:-197.345166 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 122.98; MB_Range = 122.98; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 122.98; MB_Bottom_Detect_Filter_Min_Depth = 38.43; MB_Bottom_Detect_Filter_Max_Depth = 66.61; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 161.336867 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.786584; longitude = -121.857383; captureRadius = 10; duration = 44; initialDepth = 161.336867; finalDepth = 141.242033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 36.008299 VEHICLE DEPTH:173.153742 TOPO:-202.892344 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 86.42; MB_Range = 86.42; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.01; MB_Bottom_Detect_Filter_Max_Range = 86.42; MB_Bottom_Detect_Filter_Min_Depth = 27.01; MB_Bottom_Detect_Filter_Max_Depth = 46.81; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 173.153742 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.787088; longitude = -121.857359; captureRadius = 10; duration = 44; initialDepth = 173.153742; finalDepth = 161.336867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 29.738602 VEHICLE DEPTH:176.9127 TOPO:-206.316830 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 71.37; MB_Range = 71.37; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 71.37; MB_Bottom_Detect_Filter_Min_Depth = 22.30; MB_Bottom_Detect_Filter_Max_Depth = 38.66; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 176.912700 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.787593; longitude = -121.857335; captureRadius = 10; duration = 44; initialDepth = 176.912700; finalDepth = 173.153742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 29.40413 VEHICLE DEPTH:181.784379 TOPO:-208.704483 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 70.57; MB_Range = 70.57; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 70.57; MB_Bottom_Detect_Filter_Min_Depth = 22.05; MB_Bottom_Detect_Filter_Max_Depth = 38.23; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 181.784379 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.788097; longitude = -121.857311; captureRadius = 10; duration = 44; initialDepth = 181.784379; finalDepth = 176.912700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 26.920104 VEHICLE DEPTH:185.676391 TOPO:-211.859046 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 64.61; MB_Range = 64.61; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 64.61; MB_Bottom_Detect_Filter_Min_Depth = 20.19; MB_Bottom_Detect_Filter_Max_Depth = 35.00; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 185.676391 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.788601; longitude = -121.857287; captureRadius = 10; duration = 44; initialDepth = 185.676391; finalDepth = 181.784379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 26.182655 VEHICLE DEPTH:190.005675 TOPO:-214.626407 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 62.84; MB_Range = 62.84; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 62.84; MB_Bottom_Detect_Filter_Min_Depth = 19.64; MB_Bottom_Detect_Filter_Max_Depth = 34.04; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 190.005675 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.789105; longitude = -121.857262; captureRadius = 10; duration = 44; initialDepth = 190.005675; finalDepth = 185.676391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 25.522073 VEHICLE DEPTH:192.662674 TOPO:-218.184747 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 61.25; MB_Range = 61.25; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.14; MB_Bottom_Detect_Filter_Max_Range = 61.25; MB_Bottom_Detect_Filter_Min_Depth = 19.14; MB_Bottom_Detect_Filter_Max_Depth = 33.18; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 192.662674 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.789609; longitude = -121.857238; captureRadius = 10; duration = 44; initialDepth = 192.662674; finalDepth = 190.005675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 31.474999 VEHICLE DEPTH:193.313104 TOPO:-224.788103 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 75.54; MB_Range = 75.54; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 75.54; MB_Bottom_Detect_Filter_Min_Depth = 23.61; MB_Bottom_Detect_Filter_Max_Depth = 40.92; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 193.313104 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.790114; longitude = -121.857214; captureRadius = 10; duration = 41; initialDepth = 193.313104; finalDepth = 192.662674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 35.485056 VEHICLE DEPTH:196.653395 TOPO:-232.138451 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 85.16; MB_Range = 85.16; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 85.16; MB_Bottom_Detect_Filter_Min_Depth = 26.61; MB_Bottom_Detect_Filter_Max_Depth = 46.13; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 196.653395 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.790577; longitude = -121.857192; captureRadius = 10; duration = 43; initialDepth = 196.653395; finalDepth = 193.313104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 35.524482 VEHICLE DEPTH:200 TOPO:-235.524482 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 85.26; MB_Range = 85.26; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 85.26; MB_Bottom_Detect_Filter_Min_Depth = 26.64; MB_Bottom_Detect_Filter_Max_Depth = 46.18; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.791066; longitude = -121.857168; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 196.653395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 41.619097 VEHICLE DEPTH:200 TOPO:-241.619097 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 99.89; MB_Range = 99.89; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 99.89; MB_Bottom_Detect_Filter_Min_Depth = 31.21; MB_Bottom_Detect_Filter_Max_Depth = 54.10; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.791570; longitude = -121.857144; captureRadius = 10; duration = 44; initialDepth = 200.000000; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 44.070535 VEHICLE DEPTH:200 TOPO:-244.070535 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 105.77; MB_Range = 105.77; MB_Rate = 3; 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 55.978099 meters # Minimum depth: 234.682764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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 = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 46.023037 VEHICLE DEPTH:200 TOPO:-246.023037 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 110.46; MB_Range = 110.46; MB_Rate = 3; 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 55.978104 meters # Minimum depth: 236.965215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 46.023037 VEHICLE DEPTH:200 TOPO:-243.568275 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 110.46; MB_Range = 110.46; MB_Rate = 3; 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 # 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; } # ALTITUDE: 43.568275 VEHICLE DEPTH:200 TOPO:-238.792071 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 104.56; MB_Range = 104.56; MB_Rate = 3; 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 55.978112 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 38.892577 VEHICLE DEPTH:200 TOPO:-238.892577 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 93.34; MB_Range = 93.34; MB_Rate = 3; 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 55.978117 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 39.404096 VEHICLE DEPTH:200 TOPO:-239.404096 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 94.57; MB_Range = 94.57; MB_Rate = 3; 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 55.978121 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 50.477607 VEHICLE DEPTH:200 TOPO:-250.477607 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 121.15; MB_Range = 121.15; MB_Rate = 3; 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 55.978126 meters # Minimum depth: 238.339184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 59.427726 VEHICLE DEPTH:200 TOPO:-259.427726 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 142.63; MB_Range = 142.63; MB_Rate = 3; 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 55.978130 meters # Minimum depth: 238.352383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 72.70018 VEHICLE DEPTH:200 TOPO:-272.700180 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 174.48; MB_Range = 174.48; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.53; MB_Bottom_Detect_Filter_Max_Range = 174.48; MB_Bottom_Detect_Filter_Min_Depth = 54.53; MB_Bottom_Detect_Filter_Max_Depth = 94.51; 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 # 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; } # ALTITUDE: 82.819406 VEHICLE DEPTH:200 TOPO:-282.819406 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 198.77; MB_Range = 198.77; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 62.11; MB_Bottom_Detect_Filter_Max_Range = 198.77; MB_Bottom_Detect_Filter_Min_Depth = 62.11; MB_Bottom_Detect_Filter_Max_Depth = 107.67; 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 # 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; } # ALTITUDE: 82.819406 VEHICLE DEPTH:200 TOPO:-282.444204 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 198.77; MB_Range = 198.77; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 62.11; MB_Bottom_Detect_Filter_Max_Range = 198.77; MB_Bottom_Detect_Filter_Min_Depth = 62.11; MB_Bottom_Detect_Filter_Max_Depth = 107.67; 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 # 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; } # ALTITUDE: 82.444204 VEHICLE DEPTH:200 TOPO:-282.093031 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 197.87; MB_Range = 197.87; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 61.83; MB_Bottom_Detect_Filter_Max_Range = 197.87; MB_Bottom_Detect_Filter_Min_Depth = 61.83; MB_Bottom_Detect_Filter_Max_Depth = 107.18; 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 # 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; } # ALTITUDE: 82.234224 VEHICLE DEPTH:200 TOPO:-282.234224 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 197.36; MB_Range = 197.36; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 61.68; MB_Bottom_Detect_Filter_Max_Range = 197.36; MB_Bottom_Detect_Filter_Min_Depth = 61.68; MB_Bottom_Detect_Filter_Max_Depth = 106.90; 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 # 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; } # ALTITUDE: 85.926654 VEHICLE DEPTH:200 TOPO:-285.926654 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 206.22; MB_Range = 206.22; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 64.44; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 64.44; MB_Bottom_Detect_Filter_Max_Depth = 111.70; 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 # 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; } # ALTITUDE: 92.17025 VEHICLE DEPTH:200 TOPO:-292.170250 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 221.21; MB_Range = 221.21; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 69.13; MB_Bottom_Detect_Filter_Max_Range = 221.21; MB_Bottom_Detect_Filter_Min_Depth = 69.13; MB_Bottom_Detect_Filter_Max_Depth = 119.82; 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 # 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; } # ALTITUDE: 117.528028 VEHICLE DEPTH:200 TOPO:-317.528028 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 282.07; MB_Range = 282.07; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 88.15; MB_Bottom_Detect_Filter_Max_Range = 282.07; MB_Bottom_Detect_Filter_Min_Depth = 88.15; MB_Bottom_Detect_Filter_Max_Depth = 152.79; 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 # 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; } # ALTITUDE: 130.360825 VEHICLE DEPTH:200 TOPO:-330.360825 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 312.87; MB_Range = 312.87; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 97.77; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 97.77; MB_Bottom_Detect_Filter_Max_Depth = 169.47; 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 # 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; } # ALTITUDE: 130.775609 VEHICLE DEPTH:200 TOPO:-330.775609 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 313.86; MB_Range = 313.86; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 98.08; MB_Bottom_Detect_Filter_Max_Range = 313.86; MB_Bottom_Detect_Filter_Min_Depth = 98.08; MB_Bottom_Detect_Filter_Max_Depth = 170.01; 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 # 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; } # ALTITUDE: 132.930928 VEHICLE DEPTH:200 TOPO:-332.930928 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 319.03; MB_Range = 319.03; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 99.70; MB_Bottom_Detect_Filter_Max_Range = 319.03; MB_Bottom_Detect_Filter_Min_Depth = 99.70; MB_Bottom_Detect_Filter_Max_Depth = 172.81; 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 # 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; } # ALTITUDE: 136.278824 VEHICLE DEPTH:200 TOPO:-336.278824 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 327.07; MB_Range = 327.07; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 102.21; MB_Bottom_Detect_Filter_Max_Range = 327.07; MB_Bottom_Detect_Filter_Min_Depth = 102.21; MB_Bottom_Detect_Filter_Max_Depth = 177.16; 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 # 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; } # ALTITUDE: 137.411245 VEHICLE DEPTH:200 TOPO:-337.411245 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 329.79; MB_Range = 329.79; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 103.06; MB_Bottom_Detect_Filter_Max_Range = 329.79; MB_Bottom_Detect_Filter_Min_Depth = 103.06; MB_Bottom_Detect_Filter_Max_Depth = 178.63; 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 # 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; } # ALTITUDE: 137.411245 VEHICLE DEPTH:200 TOPO:-330.573952 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 329.79; MB_Range = 329.79; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 103.06; MB_Bottom_Detect_Filter_Max_Range = 329.79; MB_Bottom_Detect_Filter_Min_Depth = 103.06; MB_Bottom_Detect_Filter_Max_Depth = 178.63; 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 # 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; } # ALTITUDE: 130.573952 VEHICLE DEPTH:200 TOPO:-315.924448 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 313.38; MB_Range = 313.38; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 97.93; MB_Bottom_Detect_Filter_Max_Range = 313.38; MB_Bottom_Detect_Filter_Min_Depth = 97.93; MB_Bottom_Detect_Filter_Max_Depth = 169.75; 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 # 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; } # ALTITUDE: 115.924448 VEHICLE DEPTH:200 TOPO:-299.230650 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 278.22; MB_Range = 278.22; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 86.94; MB_Bottom_Detect_Filter_Max_Range = 278.22; MB_Bottom_Detect_Filter_Min_Depth = 86.94; MB_Bottom_Detect_Filter_Max_Depth = 150.70; 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 # 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; } # ALTITUDE: 99.23065 VEHICLE DEPTH:200 TOPO:-268.607764 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 238.15; MB_Range = 238.15; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 74.42; MB_Bottom_Detect_Filter_Max_Range = 238.15; MB_Bottom_Detect_Filter_Min_Depth = 74.42; MB_Bottom_Detect_Filter_Max_Depth = 129.00; 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 # 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; } # ALTITUDE: 68.607764 VEHICLE DEPTH:200 TOPO:-260.183056 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 164.66; MB_Range = 164.66; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.46; MB_Bottom_Detect_Filter_Max_Range = 164.66; MB_Bottom_Detect_Filter_Min_Depth = 51.46; MB_Bottom_Detect_Filter_Max_Depth = 89.19; 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 # 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; } # ALTITUDE: 60.183056 VEHICLE DEPTH:200 TOPO:-244.756083 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 144.44; MB_Range = 144.44; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.14; MB_Bottom_Detect_Filter_Max_Range = 144.44; MB_Bottom_Detect_Filter_Min_Depth = 45.14; MB_Bottom_Detect_Filter_Max_Depth = 78.24; 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 # 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; } # ALTITUDE: 44.756083 VEHICLE DEPTH:200 TOPO:-237.741496 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 107.41; MB_Range = 107.41; MB_Rate = 3; 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 55.978218 meters # Minimum depth: 237.224851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 37.812006 VEHICLE DEPTH:200 TOPO:-237.812006 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 90.75; MB_Range = 90.75; MB_Rate = 3; 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 55.978222 meters # Minimum depth: 237.144555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 37.812006 VEHICLE DEPTH:200 TOPO:-236.866971 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 90.75; MB_Range = 90.75; MB_Rate = 3; 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 # 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; } # ALTITUDE: 36.866971 VEHICLE DEPTH:200 TOPO:-233.740085 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 88.48; MB_Range = 88.48; MB_Rate = 3; 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 55.978231 meters # Minimum depth: 230.811337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 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; } # ALTITUDE: 33.740085 VEHICLE DEPTH:198.741251 TOPO:-229.832561 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 80.98; MB_Range = 80.98; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 80.98; MB_Bottom_Detect_Filter_Min_Depth = 25.31; MB_Bottom_Detect_Filter_Max_Depth = 43.86; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 198.741251 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.807648; longitude = -121.856373; captureRadius = 10; duration = 40; initialDepth = 198.741251; finalDepth = 200.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 32.700596 VEHICLE DEPTH:183.964124 TOPO:-216.664720 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 78.48; MB_Range = 78.48; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 78.48; MB_Bottom_Detect_Filter_Min_Depth = 24.53; MB_Bottom_Detect_Filter_Max_Depth = 42.51; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 183.964124 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.808099; longitude = -121.856351; captureRadius = 10; duration = 44; initialDepth = 183.964124; finalDepth = 198.741251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 32.700596 VEHICLE DEPTH:172.209577 TOPO:-200.165143 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 78.48; MB_Range = 78.48; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 78.48; MB_Bottom_Detect_Filter_Min_Depth = 24.53; MB_Bottom_Detect_Filter_Max_Depth = 42.51; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 172.209577 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.808601; longitude = -121.856327; captureRadius = 10; duration = 44; initialDepth = 172.209577; finalDepth = 183.964124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 27.955566 VEHICLE DEPTH:167.682103 TOPO:-189.735366 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 67.09; MB_Range = 67.09; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 67.09; MB_Bottom_Detect_Filter_Min_Depth = 20.97; MB_Bottom_Detect_Filter_Max_Depth = 36.34; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 167.682103 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.809105; longitude = -121.856303; captureRadius = 10; duration = 44; initialDepth = 167.682103; finalDepth = 172.209577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 22.053263 VEHICLE DEPTH:166.969768 TOPO:-185.515642 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 52.93; MB_Range = 52.93; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 52.93; MB_Bottom_Detect_Filter_Min_Depth = 16.54; MB_Bottom_Detect_Filter_Max_Depth = 28.67; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 166.969768 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.809609; longitude = -121.856279; captureRadius = 10; duration = 44; initialDepth = 166.969768; finalDepth = 167.682103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 18.545874 VEHICLE DEPTH:166.960755 TOPO:-184.960755 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 44.51; MB_Range = 44.51; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 44.51; MB_Bottom_Detect_Filter_Min_Depth = 13.91; MB_Bottom_Detect_Filter_Max_Depth = 24.11; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 166.960755 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.810113; longitude = -121.856255; captureRadius = 10; duration = 44; initialDepth = 166.960755; finalDepth = 166.969768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.890025 VEHICLE DEPTH:165.22368 TOPO:-185.113705 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.74; MB_Range = 47.74; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.92; MB_Bottom_Detect_Filter_Max_Range = 47.74; MB_Bottom_Detect_Filter_Min_Depth = 14.92; MB_Bottom_Detect_Filter_Max_Depth = 25.86; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 165.223680 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.810617; longitude = -121.856230; captureRadius = 10; duration = 44; initialDepth = 165.223680; finalDepth = 166.960755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 22.771406 VEHICLE DEPTH:160.096682 TOPO:-182.868088 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 54.65; MB_Range = 54.65; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 54.65; MB_Bottom_Detect_Filter_Min_Depth = 17.08; MB_Bottom_Detect_Filter_Max_Depth = 29.60; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 160.096682 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.811121; longitude = -121.856206; captureRadius = 10; duration = 44; initialDepth = 160.096682; finalDepth = 165.223680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 24.379165 VEHICLE DEPTH:153.493002 TOPO:-177.872167 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 58.51; MB_Range = 58.51; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 58.51; MB_Bottom_Detect_Filter_Min_Depth = 18.28; MB_Bottom_Detect_Filter_Max_Depth = 31.69; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 153.493002 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.811626; longitude = -121.856182; captureRadius = 10; duration = 44; initialDepth = 153.493002; finalDepth = 160.096682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 24.379165 VEHICLE DEPTH:148.80537 TOPO:-170.726519 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 58.51; MB_Range = 58.51; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 58.51; MB_Bottom_Detect_Filter_Min_Depth = 18.28; MB_Bottom_Detect_Filter_Max_Depth = 31.69; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 148.805370 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.812130; longitude = -121.856158; captureRadius = 10; duration = 44; initialDepth = 148.805370; finalDepth = 153.493002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.921149 VEHICLE DEPTH:145.259421 TOPO:-165.977780 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 52.61; MB_Range = 52.61; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 52.61; MB_Bottom_Detect_Filter_Min_Depth = 16.44; MB_Bottom_Detect_Filter_Max_Depth = 28.50; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 145.259421 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.812634; longitude = -121.856134; captureRadius = 10; duration = 44; initialDepth = 145.259421; finalDepth = 148.805370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.718359 VEHICLE DEPTH:143.545234 TOPO:-163.104362 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 49.72; MB_Range = 49.72; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 49.72; MB_Bottom_Detect_Filter_Min_Depth = 15.54; MB_Bottom_Detect_Filter_Max_Depth = 26.93; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 143.545234 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.813138; longitude = -121.856109; captureRadius = 10; duration = 44; initialDepth = 143.545234; finalDepth = 145.259421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.05849 VEHICLE DEPTH:141.283143 TOPO:-161.341633 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.14; MB_Range = 48.14; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 48.14; MB_Bottom_Detect_Filter_Min_Depth = 15.04; MB_Bottom_Detect_Filter_Max_Depth = 26.08; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 141.283143 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.813642; longitude = -121.856085; captureRadius = 10; duration = 44; initialDepth = 141.283143; finalDepth = 143.545234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.05849 VEHICLE DEPTH:139.393848 TOPO:-159.128050 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.14; MB_Range = 48.14; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 48.14; MB_Bottom_Detect_Filter_Min_Depth = 15.04; MB_Bottom_Detect_Filter_Max_Depth = 26.08; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 139.393848 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.814147; longitude = -121.856061; captureRadius = 10; duration = 44; initialDepth = 139.393848; finalDepth = 141.283143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.734202 VEHICLE DEPTH:137.682414 TOPO:-157.312827 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.36; MB_Range = 47.36; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.80; MB_Bottom_Detect_Filter_Max_Range = 47.36; MB_Bottom_Detect_Filter_Min_Depth = 14.80; MB_Bottom_Detect_Filter_Max_Depth = 25.65; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 137.682414 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.814651; longitude = -121.856037; captureRadius = 10; duration = 40; initialDepth = 137.682414; finalDepth = 139.393848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.82145 VEHICLE DEPTH:135.853645 TOPO:-155.675095 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.57; MB_Range = 47.57; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.87; MB_Bottom_Detect_Filter_Max_Range = 47.57; MB_Bottom_Detect_Filter_Min_Depth = 14.87; MB_Bottom_Detect_Filter_Max_Depth = 25.77; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 135.853645 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.815107; longitude = -121.856015; captureRadius = 10; duration = 44; initialDepth = 135.853645; finalDepth = 137.682414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.218208 VEHICLE DEPTH:133.599463 TOPO:-153.817671 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.52; MB_Range = 48.52; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 48.52; MB_Bottom_Detect_Filter_Min_Depth = 15.16; MB_Bottom_Detect_Filter_Max_Depth = 26.28; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 133.599463 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.815603; longitude = -121.855991; captureRadius = 10; duration = 44; initialDepth = 133.599463; finalDepth = 135.853645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.218208 VEHICLE DEPTH:131.82741 TOPO:-151.449486 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.52; MB_Range = 48.52; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 48.52; MB_Bottom_Detect_Filter_Min_Depth = 15.16; MB_Bottom_Detect_Filter_Max_Depth = 26.28; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 131.827410 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.816107; longitude = -121.855967; captureRadius = 10; duration = 44; initialDepth = 131.827410; finalDepth = 133.599463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.622076 VEHICLE DEPTH:129.967085 TOPO:-149.446229 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.09; MB_Range = 47.09; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.72; MB_Bottom_Detect_Filter_Max_Range = 47.09; MB_Bottom_Detect_Filter_Min_Depth = 14.72; MB_Bottom_Detect_Filter_Max_Depth = 25.51; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 129.967085 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.816612; longitude = -121.855943; captureRadius = 10; duration = 44; initialDepth = 129.967085; finalDepth = 131.827410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.491775 VEHICLE DEPTH:128.283601 TOPO:-147.775376 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.78; MB_Range = 46.78; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.62; MB_Bottom_Detect_Filter_Max_Range = 46.78; MB_Bottom_Detect_Filter_Min_Depth = 14.62; MB_Bottom_Detect_Filter_Max_Depth = 25.34; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 128.283601 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.817116; longitude = -121.855919; captureRadius = 10; duration = 44; initialDepth = 128.283601; finalDepth = 129.967085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.491775 VEHICLE DEPTH:127.45562 TOPO:-146.721111 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.78; MB_Range = 46.78; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.62; MB_Bottom_Detect_Filter_Max_Range = 46.78; MB_Bottom_Detect_Filter_Min_Depth = 14.62; MB_Bottom_Detect_Filter_Max_Depth = 25.34; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 127.455620 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.817620; longitude = -121.855894; captureRadius = 10; duration = 44; initialDepth = 127.455620; finalDepth = 128.283601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.265491 VEHICLE DEPTH:126.212586 TOPO:-145.366821 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.24; MB_Range = 46.24; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.45; MB_Bottom_Detect_Filter_Max_Range = 46.24; MB_Bottom_Detect_Filter_Min_Depth = 14.45; MB_Bottom_Detect_Filter_Max_Depth = 25.05; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 126.212586 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.818124; longitude = -121.855870; captureRadius = 10; duration = 44; initialDepth = 126.212586; finalDepth = 127.455620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.154235 VEHICLE DEPTH:125.625693 TOPO:-144.164401 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 45.97; MB_Range = 45.97; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.37; MB_Bottom_Detect_Filter_Max_Range = 45.97; MB_Bottom_Detect_Filter_Min_Depth = 14.37; MB_Bottom_Detect_Filter_Max_Depth = 24.90; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 125.625693 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.818628; longitude = -121.855846; captureRadius = 10; duration = 44; initialDepth = 125.625693; finalDepth = 126.212586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 18.898099 VEHICLE DEPTH:125.021195 TOPO:-143.919294 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 45.36; MB_Range = 45.36; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.17; MB_Bottom_Detect_Filter_Max_Range = 45.36; MB_Bottom_Detect_Filter_Min_Depth = 14.17; MB_Bottom_Detect_Filter_Max_Depth = 24.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 125.021195 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.819132; longitude = -121.855822; captureRadius = 10; duration = 44; initialDepth = 125.021195; finalDepth = 125.625693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 18.898099 VEHICLE DEPTH:124.097026 TOPO:-142.969110 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 45.36; MB_Range = 45.36; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.17; MB_Bottom_Detect_Filter_Max_Range = 45.36; MB_Bottom_Detect_Filter_Min_Depth = 14.17; MB_Bottom_Detect_Filter_Max_Depth = 24.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 124.097026 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.819637; longitude = -121.855798; captureRadius = 10; duration = 44; initialDepth = 124.097026; finalDepth = 125.021195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.189195 VEHICLE DEPTH:122.74545 TOPO:-141.934645 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.05; MB_Range = 46.05; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.39; MB_Bottom_Detect_Filter_Max_Range = 46.05; MB_Bottom_Detect_Filter_Min_Depth = 14.39; MB_Bottom_Detect_Filter_Max_Depth = 24.95; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 122.745450 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.820141; longitude = -121.855773; captureRadius = 10; duration = 44; initialDepth = 122.745450; finalDepth = 124.097026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.189195 VEHICLE DEPTH:121.93875 TOPO:-140.576586 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.05; MB_Range = 46.05; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.39; MB_Bottom_Detect_Filter_Max_Range = 46.05; MB_Bottom_Detect_Filter_Min_Depth = 14.39; MB_Bottom_Detect_Filter_Max_Depth = 24.95; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 121.938750 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.820645; longitude = -121.855749; captureRadius = 10; duration = 44; initialDepth = 121.938750; finalDepth = 122.745450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.535966 VEHICLE DEPTH:120.82503 TOPO:-140.360996 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.89; MB_Range = 46.89; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.65; MB_Bottom_Detect_Filter_Max_Range = 46.89; MB_Bottom_Detect_Filter_Min_Depth = 14.65; MB_Bottom_Detect_Filter_Max_Depth = 25.40; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 120.825030 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.821149; longitude = -121.855725; captureRadius = 10; duration = 44; initialDepth = 120.825030; finalDepth = 121.938750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.310453 VEHICLE DEPTH:117.990738 TOPO:-138.301191 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.75; MB_Range = 48.75; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 48.75; MB_Bottom_Detect_Filter_Min_Depth = 15.23; MB_Bottom_Detect_Filter_Max_Depth = 26.40; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 117.990738 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.821653; longitude = -121.855701; captureRadius = 10; duration = 41; initialDepth = 117.990738; finalDepth = 120.825030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.310453 VEHICLE DEPTH:116.953535 TOPO:-135.903928 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.75; MB_Range = 48.75; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 48.75; MB_Bottom_Detect_Filter_Min_Depth = 15.23; MB_Bottom_Detect_Filter_Max_Depth = 26.40; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 116.953535 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.822116; longitude = -121.855679; captureRadius = 10; duration = 43; initialDepth = 116.953535; finalDepth = 117.990738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.718432 VEHICLE DEPTH:113.979577 TOPO:-134.698009 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 49.72; MB_Range = 49.72; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 49.72; MB_Bottom_Detect_Filter_Min_Depth = 15.54; MB_Bottom_Detect_Filter_Max_Depth = 26.93; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 113.979577 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.822606; longitude = -121.855655; captureRadius = 10; duration = 44; initialDepth = 113.979577; finalDepth = 116.953535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.209024 VEHICLE DEPTH:110.029774 TOPO:-131.238798 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 50.90; MB_Range = 50.90; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.91; MB_Bottom_Detect_Filter_Max_Range = 50.90; MB_Bottom_Detect_Filter_Min_Depth = 15.91; MB_Bottom_Detect_Filter_Max_Depth = 27.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 110.029774 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.823110; longitude = -121.855631; captureRadius = 10; duration = 44; initialDepth = 110.029774; finalDepth = 113.979577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.209024 VEHICLE DEPTH:107.070281 TOPO:-127.672818 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 50.90; MB_Range = 50.90; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.91; MB_Bottom_Detect_Filter_Max_Range = 50.90; MB_Bottom_Detect_Filter_Min_Depth = 15.91; MB_Bottom_Detect_Filter_Max_Depth = 27.57; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 107.070281 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.823614; longitude = -121.855607; captureRadius = 10; duration = 44; initialDepth = 107.070281; finalDepth = 110.029774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.25187 VEHICLE DEPTH:103.109171 TOPO:-124.361041 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 51.00; MB_Range = 51.00; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 51.00; MB_Bottom_Detect_Filter_Min_Depth = 15.94; MB_Bottom_Detect_Filter_Max_Depth = 27.63; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 103.109171 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.824118; longitude = -121.855583; captureRadius = 10; duration = 44; initialDepth = 103.109171; finalDepth = 107.070281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.695415 VEHICLE DEPTH:98.977871 TOPO:-120.673286 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 52.07; MB_Range = 52.07; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 52.07; MB_Bottom_Detect_Filter_Min_Depth = 16.27; MB_Bottom_Detect_Filter_Max_Depth = 28.20; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.977871 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.824623; longitude = -121.855558; captureRadius = 10; duration = 44; initialDepth = 98.977871; finalDepth = 103.109171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 24.140015 VEHICLE DEPTH:91.819402 TOPO:-115.959417 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 57.94; MB_Range = 57.94; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.11; MB_Bottom_Detect_Filter_Max_Range = 57.94; MB_Bottom_Detect_Filter_Min_Depth = 18.11; MB_Bottom_Detect_Filter_Max_Depth = 31.38; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.819402 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.825127; longitude = -121.855534; captureRadius = 10; duration = 44; initialDepth = 91.819402; finalDepth = 98.977871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 24.140015 VEHICLE DEPTH:87.308783 TOPO:-109.707514 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 57.94; MB_Range = 57.94; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.11; MB_Bottom_Detect_Filter_Max_Range = 57.94; MB_Bottom_Detect_Filter_Min_Depth = 18.11; MB_Bottom_Detect_Filter_Max_Depth = 31.38; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 87.308783 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.825631; longitude = -121.855510; captureRadius = 10; duration = 44; initialDepth = 87.308783; finalDepth = 91.819402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 22.398731 VEHICLE DEPTH:82.739649 TOPO:-104.460166 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 53.76; MB_Range = 53.76; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 53.76; MB_Bottom_Detect_Filter_Min_Depth = 16.80; MB_Bottom_Detect_Filter_Max_Depth = 29.12; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 82.739649 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.826135; longitude = -121.855486; captureRadius = 10; duration = 44; initialDepth = 82.739649; finalDepth = 87.308783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.720517 VEHICLE DEPTH:78.647621 TOPO:-100.257280 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 52.13; MB_Range = 52.13; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 52.13; MB_Bottom_Detect_Filter_Min_Depth = 16.29; MB_Bottom_Detect_Filter_Max_Depth = 28.24; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 78.647621 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.826639; longitude = -121.855462; captureRadius = 10; duration = 44; initialDepth = 78.647621; finalDepth = 82.739649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 21.609659 VEHICLE DEPTH:75.351625 TOPO:-96.330956 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 51.86; MB_Range = 51.86; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 51.86; MB_Bottom_Detect_Filter_Min_Depth = 16.21; MB_Bottom_Detect_Filter_Max_Depth = 28.09; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.351625 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.827143; longitude = -121.855438; captureRadius = 10; duration = 44; initialDepth = 75.351625; finalDepth = 78.647621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.979331 VEHICLE DEPTH:72.819067 TOPO:-92.987407 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 50.35; MB_Range = 50.35; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 50.35; MB_Bottom_Detect_Filter_Min_Depth = 15.73; MB_Bottom_Detect_Filter_Max_Depth = 27.27; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 72.819067 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.827648; longitude = -121.855413; captureRadius = 10; duration = 44; initialDepth = 72.819067; finalDepth = 75.351625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.49509 VEHICLE DEPTH:69.743803 TOPO:-90.238893 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 49.19; MB_Range = 49.19; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 49.19; MB_Bottom_Detect_Filter_Min_Depth = 15.37; MB_Bottom_Detect_Filter_Max_Depth = 26.64; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 69.743803 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.828152; longitude = -121.855389; captureRadius = 10; duration = 44; initialDepth = 69.743803; finalDepth = 72.819067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.49509 VEHICLE DEPTH:67.162345 TOPO:-87.319757 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 49.19; MB_Range = 49.19; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 49.19; MB_Bottom_Detect_Filter_Min_Depth = 15.37; MB_Bottom_Detect_Filter_Max_Depth = 26.64; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 67.162345 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.828656; longitude = -121.855365; captureRadius = 10; duration = 41; initialDepth = 67.162345; finalDepth = 69.743803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.320186 VEHICLE DEPTH:64.994655 TOPO:-85.314841 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.77; MB_Range = 48.77; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 48.77; MB_Bottom_Detect_Filter_Min_Depth = 15.24; MB_Bottom_Detect_Filter_Max_Depth = 26.42; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 64.994655 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.829124; longitude = -121.855342; captureRadius = 10; duration = 42; initialDepth = 64.994655; finalDepth = 67.162345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.320186 VEHICLE DEPTH:62.780433 TOPO:-82.764987 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.77; MB_Range = 48.77; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 48.77; MB_Bottom_Detect_Filter_Min_Depth = 15.24; MB_Bottom_Detect_Filter_Max_Depth = 26.42; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 62.780433 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.829608; longitude = -121.855319; captureRadius = 10; duration = 44; initialDepth = 62.780433; finalDepth = 64.994655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.984554 VEHICLE DEPTH:60.56179 TOPO:-80.401614 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.96; MB_Range = 47.96; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.99; MB_Bottom_Detect_Filter_Max_Range = 47.96; MB_Bottom_Detect_Filter_Min_Depth = 14.99; MB_Bottom_Detect_Filter_Max_Depth = 25.98; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.561790 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.830113; longitude = -121.855295; captureRadius = 10; duration = 44; initialDepth = 60.561790; finalDepth = 62.780433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.839824 VEHICLE DEPTH:58.328623 TOPO:-78.136490 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.62; MB_Range = 47.62; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 47.62; MB_Bottom_Detect_Filter_Min_Depth = 14.88; MB_Bottom_Detect_Filter_Max_Depth = 25.79; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.328623 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.830617; longitude = -121.855271; captureRadius = 10; duration = 44; initialDepth = 58.328623; finalDepth = 60.561790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.113477 VEHICLE DEPTH:55.831794 TOPO:-75.945271 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.27; MB_Range = 48.27; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 48.27; MB_Bottom_Detect_Filter_Min_Depth = 15.09; MB_Bottom_Detect_Filter_Max_Depth = 26.15; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 55.831794 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.831121; longitude = -121.855247; captureRadius = 10; duration = 44; initialDepth = 55.831794; finalDepth = 58.328623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 20.113477 VEHICLE DEPTH:53.992601 TOPO:-73.516862 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 48.27; MB_Range = 48.27; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 48.27; MB_Bottom_Detect_Filter_Min_Depth = 15.09; MB_Bottom_Detect_Filter_Max_Depth = 26.15; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 53.992601 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.831625; longitude = -121.855222; captureRadius = 10; duration = 44; initialDepth = 53.992601; finalDepth = 55.831794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.524261 VEHICLE DEPTH:51.999328 TOPO:-71.488587 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 46.86; MB_Range = 46.86; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.64; MB_Bottom_Detect_Filter_Max_Range = 46.86; MB_Bottom_Detect_Filter_Min_Depth = 14.64; MB_Bottom_Detect_Filter_Max_Depth = 25.38; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 51.999328 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.832129; longitude = -121.855198; captureRadius = 10; duration = 44; initialDepth = 51.999328; finalDepth = 53.992601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.726441 VEHICLE DEPTH:50.26951 TOPO:-69.995951 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.34; MB_Range = 47.34; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 47.34; MB_Bottom_Detect_Filter_Min_Depth = 14.79; MB_Bottom_Detect_Filter_Max_Depth = 25.64; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 50.269510 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.832629; longitude = -121.855174; captureRadius = 10; duration = 40; initialDepth = 50.269510; finalDepth = 51.999328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.726441 VEHICLE DEPTH:48.305058 TOPO:-67.968540 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.34; MB_Range = 47.34; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 47.34; MB_Bottom_Detect_Filter_Min_Depth = 14.79; MB_Bottom_Detect_Filter_Max_Depth = 25.64; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 48.305058 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.833082; longitude = -121.855153; captureRadius = 10; duration = 44; initialDepth = 48.305058; finalDepth = 50.269510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.816643 VEHICLE DEPTH:46.380638 TOPO:-66.197281 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.56; MB_Range = 47.56; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.86; MB_Bottom_Detect_Filter_Max_Range = 47.56; MB_Bottom_Detect_Filter_Min_Depth = 14.86; MB_Bottom_Detect_Filter_Max_Depth = 25.76; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.380638 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.833586; longitude = -121.855128; captureRadius = 10; duration = 44; initialDepth = 46.380638; finalDepth = 48.305058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ALTITUDE: 19.816643 VEHICLE DEPTH:45.03835 TOPO:-64.287176 # ####################################################### # Reset sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Duration = 300.000; LoSS_Range = 47.56; MB_Range = 47.56; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.86; MB_Bottom_Detect_Filter_Max_Range = 47.56; MB_Bottom_Detect_Filter_Min_Depth = 14.86; MB_Bottom_Detect_Filter_Max_Depth = 25.76; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.038350 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.834090; longitude = -121.855104; captureRadius = 10; duration = 43; initialDepth = 45.038350; finalDepth = 46.380638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # ALTITUDE: 19.248826 VEHICLE DEPTH:44.919902 TOPO:-62.919902 # ####################################################### # Turn Edgetech sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 64.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 46.20; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 46.1971824; MB_Power = 220; MB_Range = 46.20; MB_Rate = 3; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.44; MB_Bottom_Detect_Filter_Max_Range = 46.20; MB_Bottom_Detect_Filter_Min_Depth = 14.44; MB_Bottom_Detect_Filter_Max_Depth = 25.02; 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 # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 44.919902 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.834576; longitude = -121.855081; captureRadius = 10; duration = 600; initialDepth = 44.919902; finalDepth = 45.038350; 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; } #######################################################