# 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: MARSSurvey1.rte # Mission File: MARSSurvey1.cfg # Distance: 21327.164450 (m) # Estimated Time: 16430 (s) 4.564 (hr) # Abort Time: 19717 (s) # Way Points: 35 # Route Points: 415 # # Mission Parameters: # Desired Vehicle Altitude: 25 (m) # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 500 (m) # Abort Vehicle Depth: 525 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (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 -122.132755 36.846541 -106.697795 0.000000 1 # 1 -122.150155 36.838663 -124.517812 1780.728272 1 # 2 -122.158967 36.836124 -181.102356 2615.465181 1 # 3 -122.168040 36.827498 -308.340617 3868.583796 1 # 4 -122.171326 36.816371 -361.312988 5137.293390 1 # 5 -122.176890 36.811704 -379.001302 5854.487643 1 # 6 -122.186523 36.800278 -433.614705 7385.878620 1 # 7 -122.196306 36.788703 -484.618652 8938.530499 1 # 8 -122.197090 36.789151 -484.098633 9024.354648 1 # 9 -122.187195 36.800614 -433.253662 10572.419910 1 # 10 -122.180399 36.808866 -402.901245 11670.394505 1 # 11 -122.181744 36.809650 -410.603963 11818.531736 1 # 12 -122.182378 36.808904 -414.892171 11918.878588 1 # 13 -122.178458 36.806887 -405.183146 12334.028346 1 # 14 -122.177935 36.807634 -400.290649 12429.096062 1 # 15 -122.180399 36.808866 -402.901245 12687.963134 1 # 16 -122.177674 36.812152 -381.641561 13126.132326 1 # 17 -122.172297 36.816745 -357.927653 13825.849237 1 # 18 -122.170542 36.822196 -332.308716 14450.548758 1 # 19 -122.172409 36.822682 -337.507039 14625.549733 1 # 20 -122.172670 36.821860 -340.567383 14719.614139 1 # 21 -122.168264 36.820889 -342.123617 15127.074240 1 # 22 -122.168078 36.821636 -339.594320 15211.576616 1 # 23 -122.170542 36.822196 -332.308716 15439.984946 1 # 24 -122.168862 36.827909 -307.142619 16091.229192 1 # 25 -122.159863 36.836348 -194.049296 17324.258212 1 # 26 -122.161133 36.837207 -213.765564 17472.219222 1 # 27 -122.161805 36.836646 -233.381266 17558.547512 1 # 28 -122.158183 36.834219 -186.017029 17979.033052 1 # 29 -122.158855 36.833435 -205.151733 18084.669801 1 # 30 -122.161879 36.835340 -242.235331 18427.262978 1 # 31 -122.160759 36.836460 -206.639486 18586.700958 1 # 32 -122.159452 36.836759 -181.765971 18707.856708 1 # 33 -122.150715 36.839335 -124.842834 19537.739349 1 # 34 -122.133203 36.847213 -106.844116 21327.164450 1 # # A total of 415 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 19717; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 500.000000; abortDepth = 525.000000; minAltitude = 18.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 60; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 10.000000; pitch = 20.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 34 # Segment length 42.401889 meters # Minimum depth: 106.437894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.437894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847213; longitude = -122.133203; captureRadius = 10; duration = 33; initialDepth = 81.437894; finalDepth = 81.437894; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.882366 meters # Minimum depth: 106.192707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.192707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847027; longitude = -122.133618; captureRadius = 10; duration = 40; initialDepth = 81.192707; finalDepth = 81.437894; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.406222 # Altitude Set: 25.406222 # Vehicle Depth:81.192707 # Seafloor Depth:-106.449517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 60.97; MB_Bottom_Detect_Filter_Min_Depth = 19.05; MB_Bottom_Detect_Filter_Max_Depth = 33.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 51.696160 meters # Minimum depth: 106.192707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.192707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846803; longitude = -122.134116; captureRadius = 10; duration = 41; initialDepth = 81.192707; finalDepth = 81.192707; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.271668 # Altitude Set: 25.271668 # Vehicle Depth:81.192707 # Seafloor Depth:-106.464375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.95; MB_Bottom_Detect_Filter_Max_Range = 60.65; MB_Bottom_Detect_Filter_Min_Depth = 18.95; MB_Bottom_Detect_Filter_Max_Depth = 32.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.068896 meters # Minimum depth: 106.293053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.293053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846575; longitude = -122.134622; captureRadius = 10; duration = 40; initialDepth = 81.293053; finalDepth = 81.192707; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.894131 # Altitude Set: 25.894131 # Vehicle Depth:81.293053 # Seafloor Depth:-107.187184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.15; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.882691 meters # Minimum depth: 107.073544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 82.073544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846355; longitude = -122.135112; captureRadius = 10; duration = 40; initialDepth = 82.073544; finalDepth = 81.293053; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.894131 # Altitude Set: 25.894131 # Vehicle Depth:82.073544 # Seafloor Depth:-107.735118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.15; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.882799 meters # Minimum depth: 107.459865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 82.459865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846131; longitude = -122.135610; captureRadius = 10; duration = 40; initialDepth = 82.459865; finalDepth = 82.073544; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.930036 # Altitude Set: 25.930036 # Vehicle Depth:82.459865 # Seafloor Depth:-108.389901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 62.23; MB_Bottom_Detect_Filter_Min_Depth = 19.45; MB_Bottom_Detect_Filter_Max_Depth = 33.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.882908 meters # Minimum depth: 108.230820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.230820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845907; longitude = -122.136108; captureRadius = 10; duration = 40; initialDepth = 83.230820; finalDepth = 82.459865; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.930036 # Altitude Set: 25.930036 # Vehicle Depth:83.23082 # Seafloor Depth:-108.277806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 62.23; MB_Bottom_Detect_Filter_Min_Depth = 19.45; MB_Bottom_Detect_Filter_Max_Depth = 33.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883015 meters # Minimum depth: 108.354986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.354986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845682; longitude = -122.136606; captureRadius = 10; duration = 40; initialDepth = 83.354986; finalDepth = 83.230820; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.401523 # Altitude Set: 25.401523 # Vehicle Depth:83.354986 # Seafloor Depth:-108.756509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 60.96; MB_Bottom_Detect_Filter_Min_Depth = 19.05; MB_Bottom_Detect_Filter_Max_Depth = 33.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883124 meters # Minimum depth: 108.780194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.780194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845458; longitude = -122.137104; captureRadius = 10; duration = 40; initialDepth = 83.780194; finalDepth = 83.354986; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.617373 # Altitude Set: 25.617373 # Vehicle Depth:83.780194 # Seafloor Depth:-109.397567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.21; MB_Bottom_Detect_Filter_Max_Range = 61.48; MB_Bottom_Detect_Filter_Min_Depth = 19.21; MB_Bottom_Detect_Filter_Max_Depth = 33.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883233 meters # Minimum depth: 109.176397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.176397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845234; longitude = -122.137602; captureRadius = 10; duration = 40; initialDepth = 84.176397; finalDepth = 83.780194; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.617373 # Altitude Set: 25.617373 # Vehicle Depth:84.176397 # Seafloor Depth:-109.350578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.21; MB_Bottom_Detect_Filter_Max_Range = 61.48; MB_Bottom_Detect_Filter_Min_Depth = 19.21; MB_Bottom_Detect_Filter_Max_Depth = 33.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883341 meters # Minimum depth: 109.191033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.191033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845010; longitude = -122.138100; captureRadius = 10; duration = 40; initialDepth = 84.191033; finalDepth = 84.176397; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.338211 # Altitude Set: 25.338211 # Vehicle Depth:84.191033 # Seafloor Depth:-109.529244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.00; MB_Bottom_Detect_Filter_Max_Range = 60.81; MB_Bottom_Detect_Filter_Min_Depth = 19.00; MB_Bottom_Detect_Filter_Max_Depth = 32.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 51.588657 meters # Minimum depth: 109.467571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.467571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844786; longitude = -122.138598; captureRadius = 10; duration = 41; initialDepth = 84.467571; finalDepth = 84.191033; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.513595 # Altitude Set: 25.513595 # Vehicle Depth:84.467571 # Seafloor Depth:-109.981166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.14; MB_Bottom_Detect_Filter_Max_Range = 61.23; MB_Bottom_Detect_Filter_Min_Depth = 19.14; MB_Bottom_Detect_Filter_Max_Depth = 33.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.178349 meters # Minimum depth: 110.272540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 85.272540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844559; longitude = -122.139103; captureRadius = 10; duration = 40; initialDepth = 85.272540; finalDepth = 84.467571; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.823415 # Altitude Set: 25.823415 # Vehicle Depth:85.27254 # Seafloor Depth:-111.095955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 61.98; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883665 meters # Minimum depth: 110.499541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 85.499541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844338; longitude = -122.139594; captureRadius = 10; duration = 40; initialDepth = 85.499541; finalDepth = 85.272540; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.823415 # Altitude Set: 25.823415 # Vehicle Depth:85.499541 # Seafloor Depth:-110.809288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 61.98; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883774 meters # Minimum depth: 111.216166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.216166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844114; longitude = -122.140092; captureRadius = 10; duration = 40; initialDepth = 86.216166; finalDepth = 85.499541; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.309747 # Altitude Set: 25.309747 # Vehicle Depth:86.216166 # Seafloor Depth:-111.264207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.98; MB_Bottom_Detect_Filter_Max_Range = 60.74; MB_Bottom_Detect_Filter_Min_Depth = 18.98; MB_Bottom_Detect_Filter_Max_Depth = 32.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883883 meters # Minimum depth: 111.316091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.316091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843890; longitude = -122.140590; captureRadius = 10; duration = 40; initialDepth = 86.316091; finalDepth = 86.216166; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.367722 # Altitude Set: 25.367722 # Vehicle Depth:86.316091 # Seafloor Depth:-111.683813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.03; MB_Bottom_Detect_Filter_Max_Range = 60.88; MB_Bottom_Detect_Filter_Min_Depth = 19.03; MB_Bottom_Detect_Filter_Max_Depth = 32.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.883990 meters # Minimum depth: 111.118263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.118263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843666; longitude = -122.141088; captureRadius = 10; duration = 40; initialDepth = 86.118263; finalDepth = 86.316091; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.367722 # Altitude Set: 25.367722 # Vehicle Depth:86.118263 # Seafloor Depth:-111.244527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.03; MB_Bottom_Detect_Filter_Max_Range = 60.88; MB_Bottom_Detect_Filter_Min_Depth = 19.03; MB_Bottom_Detect_Filter_Max_Depth = 32.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884099 meters # Minimum depth: 111.118263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.118263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843442; longitude = -122.141586; captureRadius = 10; duration = 40; initialDepth = 86.118263; finalDepth = 86.118263; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.126264 # Altitude Set: 25.126264 # Vehicle Depth:86.118263 # Seafloor Depth:-111.154279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.84; MB_Bottom_Detect_Filter_Max_Range = 60.30; MB_Bottom_Detect_Filter_Min_Depth = 18.84; MB_Bottom_Detect_Filter_Max_Depth = 32.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884207 meters # Minimum depth: 111.460381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.460381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843218; longitude = -122.142084; captureRadius = 10; duration = 40; initialDepth = 86.460381; finalDepth = 86.118263; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.878218 # Altitude Set: 25.878218 # Vehicle Depth:86.460381 # Seafloor Depth:-112.338599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.41; MB_Bottom_Detect_Filter_Max_Range = 62.11; MB_Bottom_Detect_Filter_Min_Depth = 19.41; MB_Bottom_Detect_Filter_Max_Depth = 33.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884316 meters # Minimum depth: 112.334391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 87.334391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842994; longitude = -122.142582; captureRadius = 10; duration = 40; initialDepth = 87.334391; finalDepth = 86.460381; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.878218 # Altitude Set: 25.878218 # Vehicle Depth:87.334391 # Seafloor Depth:-112.922813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.41; MB_Bottom_Detect_Filter_Max_Range = 62.11; MB_Bottom_Detect_Filter_Min_Depth = 19.41; MB_Bottom_Detect_Filter_Max_Depth = 33.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 51.481150 meters # Minimum depth: 113.202491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 88.202491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842770; longitude = -122.143079; captureRadius = 10; duration = 41; initialDepth = 88.202491; finalDepth = 87.334391; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.588422 # Altitude Set: 25.588422 # Vehicle Depth:88.202491 # Seafloor Depth:-113.580745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 61.41; MB_Bottom_Detect_Filter_Min_Depth = 19.19; MB_Bottom_Detect_Filter_Max_Depth = 33.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.287806 meters # Minimum depth: 114.002455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 89.002455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842543; longitude = -122.143583; captureRadius = 10; duration = 40; initialDepth = 89.002455; finalDepth = 88.202491; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.42216 # Altitude Set: 26.42216 # Vehicle Depth:89.002455 # Seafloor Depth:-115.424615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 63.41; MB_Bottom_Detect_Filter_Min_Depth = 19.82; MB_Bottom_Detect_Filter_Max_Depth = 34.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884641 meters # Minimum depth: 114.705504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 89.705504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842322; longitude = -122.144075; captureRadius = 10; duration = 40; initialDepth = 89.705504; finalDepth = 89.002455; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.42216 # Altitude Set: 26.42216 # Vehicle Depth:89.705504 # Seafloor Depth:-114.951083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 63.41; MB_Bottom_Detect_Filter_Min_Depth = 19.82; MB_Bottom_Detect_Filter_Max_Depth = 34.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884749 meters # Minimum depth: 115.000071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.000071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842098; longitude = -122.144573; captureRadius = 10; duration = 40; initialDepth = 90.000071; finalDepth = 89.705504; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.728265 # Altitude Set: 25.728265 # Vehicle Depth:90.000071 # Seafloor Depth:-115.728336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 61.75; MB_Bottom_Detect_Filter_Min_Depth = 19.30; MB_Bottom_Detect_Filter_Max_Depth = 33.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884857 meters # Minimum depth: 115.487984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.487984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841874; longitude = -122.145071; captureRadius = 10; duration = 40; initialDepth = 90.487984; finalDepth = 90.000071; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.728265 # Altitude Set: 25.728265 # Vehicle Depth:90.487984 # Seafloor Depth:-115.688937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 61.75; MB_Bottom_Detect_Filter_Min_Depth = 19.30; MB_Bottom_Detect_Filter_Max_Depth = 33.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.884965 meters # Minimum depth: 115.673288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.673288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841650; longitude = -122.145569; captureRadius = 10; duration = 40; initialDepth = 90.673288; finalDepth = 90.487984; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.235531 # Altitude Set: 25.235531 # Vehicle Depth:90.673288 # Seafloor Depth:-115.908819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.93; MB_Bottom_Detect_Filter_Max_Range = 60.57; MB_Bottom_Detect_Filter_Min_Depth = 18.93; MB_Bottom_Detect_Filter_Max_Depth = 32.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.885074 meters # Minimum depth: 115.673288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.673288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841426; longitude = -122.146067; captureRadius = 10; duration = 40; initialDepth = 90.673288; finalDepth = 90.673288; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.83293 # Altitude Set: 25.83293 # Vehicle Depth:90.673288 # Seafloor Depth:-116.506218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 62.00; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.885183 meters # Minimum depth: 116.513627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.513627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841202; longitude = -122.146565; captureRadius = 10; duration = 40; initialDepth = 91.513627; finalDepth = 90.673288; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.83293 # Altitude Set: 25.83293 # Vehicle Depth:91.513627 # Seafloor Depth:-117.162417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 62.00; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.885290 meters # Minimum depth: 117.025594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 92.025594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840978; longitude = -122.147063; captureRadius = 10; duration = 40; initialDepth = 92.025594; finalDepth = 91.513627; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.64879 # Altitude Set: 25.64879 # Vehicle Depth:92.025594 # Seafloor Depth:-117.090818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.24; MB_Bottom_Detect_Filter_Max_Range = 61.56; MB_Bottom_Detect_Filter_Min_Depth = 19.24; MB_Bottom_Detect_Filter_Max_Depth = 33.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 51.373639 meters # Minimum depth: 117.907711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 92.907711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840754; longitude = -122.147561; captureRadius = 10; duration = 41; initialDepth = 92.907711; finalDepth = 92.025594; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.49054 # Altitude Set: 25.49054 # Vehicle Depth:92.907711 # Seafloor Depth:-118.398251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 61.18; MB_Bottom_Detect_Filter_Min_Depth = 19.12; MB_Bottom_Detect_Filter_Max_Depth = 33.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.397267 meters # Minimum depth: 118.342517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 93.342517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840528; longitude = -122.148064; captureRadius = 10; duration = 40; initialDepth = 93.342517; finalDepth = 92.907711; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.095488 # Altitude Set: 26.095488 # Vehicle Depth:93.342517 # Seafloor Depth:-119.438005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 62.63; MB_Bottom_Detect_Filter_Min_Depth = 19.57; MB_Bottom_Detect_Filter_Max_Depth = 33.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 52.621588 meters # Minimum depth: 120.112762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 95.112762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840306; longitude = -122.148557; captureRadius = 10; duration = 42; initialDepth = 95.112762; finalDepth = 93.342517; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.095488 # Altitude Set: 26.095488 # Vehicle Depth:95.112762 # Seafloor Depth:-120.424700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 62.63; MB_Bottom_Detect_Filter_Min_Depth = 19.57; MB_Bottom_Detect_Filter_Max_Depth = 33.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 57.232889 meters # Minimum depth: 120.980391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 95.980391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840074; longitude = -122.149072; captureRadius = 10; duration = 45; initialDepth = 95.980391; finalDepth = 95.112762; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.716193 # Altitude Set: 25.716193 # Vehicle Depth:95.980391 # Seafloor Depth:-121.696584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.29; MB_Bottom_Detect_Filter_Max_Range = 61.72; MB_Bottom_Detect_Filter_Min_Depth = 19.29; MB_Bottom_Detect_Filter_Max_Depth = 33.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 57.233026 meters # Minimum depth: 122.504979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 97.504979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839822; longitude = -122.149632; captureRadius = 10; duration = 45; initialDepth = 97.504979; finalDepth = 95.980391; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.716193 # Altitude Set: 25.716193 # Vehicle Depth:97.504979 # Seafloor Depth:-122.905507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.29; MB_Bottom_Detect_Filter_Max_Range = 61.72; MB_Bottom_Detect_Filter_Min_Depth = 19.29; MB_Bottom_Detect_Filter_Max_Depth = 33.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 53.417615 meters # Minimum depth: 123.618170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.618170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839570; longitude = -122.150192; captureRadius = 10; duration = 42; initialDepth = 98.618170; finalDepth = 97.504979; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.467081 # Altitude Set: 25.467081 # Vehicle Depth:98.61817 # Seafloor Depth:-124.085251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.10; MB_Bottom_Detect_Filter_Max_Range = 61.12; MB_Bottom_Detect_Filter_Min_Depth = 19.10; MB_Bottom_Detect_Filter_Max_Depth = 33.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 33 # Segment length 24.825211 meters # Minimum depth: 123.668586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.668586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839335; longitude = -122.150715; captureRadius = 10; duration = 19; initialDepth = 98.668586; finalDepth = 98.618170; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.196951 meters # Minimum depth: 123.668586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.668586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839258; longitude = -122.150976; captureRadius = 10; duration = 42; initialDepth = 98.668586; finalDepth = 98.668586; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.746501 # Altitude Set: 26.746501 # Vehicle Depth:98.668586 # Seafloor Depth:-125.415087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 64.19; MB_Bottom_Detect_Filter_Min_Depth = 20.06; MB_Bottom_Detect_Filter_Max_Depth = 34.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197047 meters # Minimum depth: 125.453267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 100.453267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839093; longitude = -122.151536; captureRadius = 10; duration = 42; initialDepth = 100.453267; finalDepth = 98.668586; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.079323 # Altitude Set: 27.079323 # Vehicle Depth:100.453267 # Seafloor Depth:-127.532590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 64.99; MB_Bottom_Detect_Filter_Min_Depth = 20.31; MB_Bottom_Detect_Filter_Max_Depth = 35.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197142 meters # Minimum depth: 127.913973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 102.913973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838928; longitude = -122.152097; captureRadius = 10; duration = 42; initialDepth = 102.913973; finalDepth = 100.453267; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.079323 # Altitude Set: 27.079323 # Vehicle Depth:102.913973 # Seafloor Depth:-127.913973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 64.99; MB_Bottom_Detect_Filter_Min_Depth = 20.31; MB_Bottom_Detect_Filter_Max_Depth = 35.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197239 meters # Minimum depth: 128.567446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 103.567446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838762; longitude = -122.152657; captureRadius = 10; duration = 42; initialDepth = 103.567446; finalDepth = 102.913973; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.749264 # Altitude Set: 25.749264 # Vehicle Depth:103.567446 # Seafloor Depth:-129.316710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.31; MB_Bottom_Detect_Filter_Max_Range = 61.80; MB_Bottom_Detect_Filter_Min_Depth = 19.31; MB_Bottom_Detect_Filter_Max_Depth = 33.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197334 meters # Minimum depth: 128.846280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 103.846280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838597; longitude = -122.153217; captureRadius = 10; duration = 42; initialDepth = 103.846280; finalDepth = 103.567446; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.413414 # Altitude Set: 27.413414 # Vehicle Depth:103.84628 # Seafloor Depth:-131.259694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 65.79; MB_Bottom_Detect_Filter_Min_Depth = 20.56; MB_Bottom_Detect_Filter_Max_Depth = 35.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197429 meters # Minimum depth: 132.137868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 107.137868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838432; longitude = -122.153777; captureRadius = 10; duration = 42; initialDepth = 107.137868; finalDepth = 103.846280; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.685638 # Altitude Set: 27.685638 # Vehicle Depth:107.137868 # Seafloor Depth:-134.823506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 66.45; MB_Bottom_Detect_Filter_Min_Depth = 20.76; MB_Bottom_Detect_Filter_Max_Depth = 35.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197526 meters # Minimum depth: 135.304069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 110.304069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838267; longitude = -122.154337; captureRadius = 10; duration = 42; initialDepth = 110.304069; finalDepth = 107.137868; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.188862 # Altitude Set: 28.188862 # Vehicle Depth:110.304069 # Seafloor Depth:-138.492931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 67.65; MB_Bottom_Detect_Filter_Min_Depth = 21.14; MB_Bottom_Detect_Filter_Max_Depth = 36.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197621 meters # Minimum depth: 138.409002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 113.409002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838102; longitude = -122.154897; captureRadius = 10; duration = 42; initialDepth = 113.409002; finalDepth = 110.304069; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.188862 # Altitude Set: 28.188862 # Vehicle Depth:113.409002 # Seafloor Depth:-139.661256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 67.65; MB_Bottom_Detect_Filter_Min_Depth = 21.14; MB_Bottom_Detect_Filter_Max_Depth = 36.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197717 meters # Minimum depth: 139.815551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 114.815551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837937; longitude = -122.155457; captureRadius = 10; duration = 42; initialDepth = 114.815551; finalDepth = 113.409002; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.032679 # Altitude Set: 27.032679 # Vehicle Depth:114.815551 # Seafloor Depth:-141.848230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 64.88; MB_Bottom_Detect_Filter_Min_Depth = 20.27; MB_Bottom_Detect_Filter_Max_Depth = 35.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197812 meters # Minimum depth: 142.496058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 117.496058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837771; longitude = -122.156017; captureRadius = 10; duration = 42; initialDepth = 117.496058; finalDepth = 114.815551; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.032679 # Altitude Set: 27.032679 # Vehicle Depth:117.496058 # Seafloor Depth:-144.470471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 64.88; MB_Bottom_Detect_Filter_Min_Depth = 20.27; MB_Bottom_Detect_Filter_Max_Depth = 35.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.197908 meters # Minimum depth: 145.175162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 120.175162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837606; longitude = -122.156577; captureRadius = 10; duration = 42; initialDepth = 120.175162; finalDepth = 117.496058; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.455325 # Altitude Set: 28.455325 # Vehicle Depth:120.175162 # Seafloor Depth:-148.630487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 68.29; MB_Bottom_Detect_Filter_Min_Depth = 21.34; MB_Bottom_Detect_Filter_Max_Depth = 36.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.198004 meters # Minimum depth: 150.211709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 125.211709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837441; longitude = -122.157137; captureRadius = 10; duration = 42; initialDepth = 125.211709; finalDepth = 120.175162; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.455325 # Altitude Set: 28.455325 # Vehicle Depth:125.211709 # Seafloor Depth:-153.267684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 68.29; MB_Bottom_Detect_Filter_Min_Depth = 21.34; MB_Bottom_Detect_Filter_Max_Depth = 36.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.198100 meters # Minimum depth: 154.954303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 129.954303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837276; longitude = -122.157697; captureRadius = 10; duration = 42; initialDepth = 129.954303; finalDepth = 125.211709; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.055975 # Altitude Set: 28.055975 # Vehicle Depth:129.954303 # Seafloor Depth:-157.128059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 67.33; MB_Bottom_Detect_Filter_Min_Depth = 21.04; MB_Bottom_Detect_Filter_Max_Depth = 36.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.352393 meters # Minimum depth: 158.701096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 133.701096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837111; longitude = -122.158257; captureRadius = 10; duration = 42; initialDepth = 133.701096; finalDepth = 129.954303; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.463843 # Altitude Set: 31.463843 # Vehicle Depth:133.701096 # Seafloor Depth:-165.164939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 75.51; MB_Bottom_Detect_Filter_Min_Depth = 23.60; MB_Bottom_Detect_Filter_Max_Depth = 40.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 60.137207 meters # Minimum depth: 167.396533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 142.396533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836945; longitude = -122.158819; captureRadius = 10; duration = 48; initialDepth = 142.396533; finalDepth = 133.701096; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.463843 # Altitude Set: 31.463843 # Vehicle Depth:142.396533 # Seafloor Depth:-171.762896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 75.51; MB_Bottom_Detect_Filter_Min_Depth = 23.60; MB_Bottom_Detect_Filter_Max_Depth = 40.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 32 # Segment length 15.144446 meters # Minimum depth: 169.079260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 144.079260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836759; longitude = -122.159452; captureRadius = 10; duration = 12; initialDepth = 144.079260; finalDepth = 142.396533; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.625767 meters # Minimum depth: 176.551819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 151.551819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836721; longitude = -122.159616; captureRadius = 10; duration = 40; initialDepth = 151.551819; finalDepth = 144.079260; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 37.686711 # Altitude Set: 37.686711 # Vehicle Depth:151.551819 # Seafloor Depth:-185.068359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 90.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 90.45; MB_Bottom_Detect_Filter_Min_Depth = 28.27; MB_Bottom_Detect_Filter_Max_Depth = 48.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 55.385537 meters # Minimum depth: 189.954156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 164.954156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836596; longitude = -122.160162; captureRadius = 10; duration = 44; initialDepth = 164.954156; finalDepth = 151.551819; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.51654 # Altitude Set: 33.51654 # Vehicle Depth:164.954156 # Seafloor Depth:-194.756793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 80.44; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 43.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 31 # Segment length 42.516710 meters # Minimum depth: 194.756793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 169.756793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836460; longitude = -122.160759; captureRadius = 10; duration = 34; initialDepth = 169.756793; finalDepth = 164.954156; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 63.775180 meters # Minimum depth: 208.960205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 183.960205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836161; longitude = -122.161058; captureRadius = 10; duration = 51; initialDepth = 183.960205; finalDepth = 169.756793; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.882693 # Altitude Set: 36.882693 # Vehicle Depth:183.960205 # Seafloor Depth:-217.633667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 88.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.66; MB_Bottom_Detect_Filter_Max_Range = 88.52; MB_Bottom_Detect_Filter_Min_Depth = 27.66; MB_Bottom_Detect_Filter_Max_Depth = 47.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.146090 meters # Minimum depth: 228.531799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 203.531799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835713; longitude = -122.161506; captureRadius = 10; duration = 42; initialDepth = 203.531799; finalDepth = 183.960205; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.673462 # Altitude Set: 33.673462 # Vehicle Depth:203.531799 # Seafloor Depth:-232.952347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 80.82; MB_Bottom_Detect_Filter_Min_Depth = 25.26; MB_Bottom_Detect_Filter_Max_Depth = 43.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 30 # Segment length 29.606605 meters # Minimum depth: 229.924911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 204.924911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835340; longitude = -122.161879; captureRadius = 10; duration = 23; initialDepth = 204.924911; finalDepth = 203.531799; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.754273 meters # Minimum depth: 231.959513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 206.959513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835175; longitude = -122.161618; captureRadius = 10; duration = 40; initialDepth = 206.959513; finalDepth = 204.924911; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 37.31042 # Altitude Set: 37.31042 # Vehicle Depth:206.959513 # Seafloor Depth:-237.435714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 89.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.98; MB_Bottom_Detect_Filter_Max_Range = 89.55; MB_Bottom_Detect_Filter_Min_Depth = 27.98; MB_Bottom_Detect_Filter_Max_Depth = 48.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.754392 meters # Minimum depth: 226.104182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 201.104182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834893; longitude = -122.161170; captureRadius = 10; duration = 40; initialDepth = 201.104182; finalDepth = 206.959513; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.476201 # Altitude Set: 30.476201 # Vehicle Depth:201.104182 # Seafloor Depth:-231.207948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 73.14; MB_Bottom_Detect_Filter_Min_Depth = 22.86; MB_Bottom_Detect_Filter_Max_Depth = 39.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.754510 meters # Minimum depth: 221.212802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 196.212802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834611; longitude = -122.160722; captureRadius = 10; duration = 40; initialDepth = 196.212802; finalDepth = 201.104182; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.103766 # Altitude Set: 30.103766 # Vehicle Depth:196.212802 # Seafloor Depth:-225.342130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 72.25; MB_Bottom_Detect_Filter_Min_Depth = 22.58; MB_Bottom_Detect_Filter_Max_Depth = 39.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.754629 meters # Minimum depth: 218.161876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 193.161876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834329; longitude = -122.160274; captureRadius = 10; duration = 40; initialDepth = 193.161876; finalDepth = 196.212802; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.129328 # Altitude Set: 29.129328 # Vehicle Depth:193.161876 # Seafloor Depth:-220.678410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 69.91; MB_Bottom_Detect_Filter_Min_Depth = 21.85; MB_Bottom_Detect_Filter_Max_Depth = 37.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.754747 meters # Minimum depth: 212.208365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 187.208365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834047; longitude = -122.159826; captureRadius = 10; duration = 40; initialDepth = 187.208365; finalDepth = 193.161876; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.745541 # Altitude Set: 29.745541 # Vehicle Depth:187.208365 # Seafloor Depth:-216.953906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 71.39; MB_Bottom_Detect_Filter_Min_Depth = 22.31; MB_Bottom_Detect_Filter_Max_Depth = 38.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 59.214021 meters # Minimum depth: 206.274638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 181.274638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833764; longitude = -122.159378; captureRadius = 10; duration = 47; initialDepth = 181.274638; finalDepth = 187.208365; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.405504 # Altitude Set: 30.405504 # Vehicle Depth:181.274638 # Seafloor Depth:-211.680142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 72.97; MB_Bottom_Detect_Filter_Min_Depth = 22.80; MB_Bottom_Detect_Filter_Max_Depth = 39.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 29 # Segment length 50.303254 meters # Minimum depth: 197.858229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 172.858229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833435; longitude = -122.158855; captureRadius = 10; duration = 40; initialDepth = 172.858229; finalDepth = 181.274638; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 55.333495 meters # Minimum depth: 189.724090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 164.724090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833809; longitude = -122.158535; captureRadius = 10; duration = 44; initialDepth = 164.724090; finalDepth = 172.858229; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.293504 # Altitude Set: 32.293504 # Vehicle Depth:164.72409 # Seafloor Depth:-196.425655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 77.50; MB_Bottom_Detect_Filter_Min_Depth = 24.22; MB_Bottom_Detect_Filter_Max_Depth = 41.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 28 # Segment length 47.684331 meters # Minimum depth: 186.017029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 161.017029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834219; longitude = -122.158183; captureRadius = 10; duration = 38; initialDepth = 161.017029; finalDepth = 164.724090; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.019152 meters # Minimum depth: 186.017029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 161.017029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834495; longitude = -122.158594; captureRadius = 10; duration = 41; initialDepth = 161.017029; finalDepth = 161.017029; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.503464 # Altitude Set: 29.503464 # Vehicle Depth:161.017029 # Seafloor Depth:-190.520493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 70.81; MB_Bottom_Detect_Filter_Min_Depth = 22.13; MB_Bottom_Detect_Filter_Max_Depth = 38.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.019029 meters # Minimum depth: 191.989332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 166.989332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834795; longitude = -122.159042; captureRadius = 10; duration = 41; initialDepth = 166.989332; finalDepth = 161.017029; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.619661 # Altitude Set: 30.619661 # Vehicle Depth:166.989332 # Seafloor Depth:-197.608993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 73.49; MB_Bottom_Detect_Filter_Min_Depth = 22.96; MB_Bottom_Detect_Filter_Max_Depth = 39.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.018906 meters # Minimum depth: 199.807940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 174.807940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835095; longitude = -122.159490; captureRadius = 10; duration = 41; initialDepth = 174.807940; finalDepth = 166.989332; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.619661 # Altitude Set: 30.619661 # Vehicle Depth:174.80794 # Seafloor Depth:-201.668454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 73.49; MB_Bottom_Detect_Filter_Min_Depth = 22.96; MB_Bottom_Detect_Filter_Max_Depth = 39.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.018784 meters # Minimum depth: 202.122068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 177.122068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835395; longitude = -122.159938; captureRadius = 10; duration = 41; initialDepth = 177.122068; finalDepth = 174.807940; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.98556 # Altitude Set: 27.98556 # Vehicle Depth:177.122068 # Seafloor Depth:-205.107628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 67.17; MB_Bottom_Detect_Filter_Min_Depth = 20.99; MB_Bottom_Detect_Filter_Max_Depth = 36.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.018661 meters # Minimum depth: 204.070550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 179.070550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835696; longitude = -122.160386; captureRadius = 10; duration = 41; initialDepth = 179.070550; finalDepth = 177.122068; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.762784 # Altitude Set: 30.762784 # Vehicle Depth:179.07055 # Seafloor Depth:-209.833334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 73.83; MB_Bottom_Detect_Filter_Min_Depth = 23.07; MB_Bottom_Detect_Filter_Max_Depth = 39.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.018538 meters # Minimum depth: 209.658757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 184.658757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835996; longitude = -122.160834; captureRadius = 10; duration = 41; initialDepth = 184.658757; finalDepth = 179.070550; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.762784 # Altitude Set: 30.762784 # Vehicle Depth:184.658757 # Seafloor Depth:-213.978350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 73.83; MB_Bottom_Detect_Filter_Min_Depth = 23.07; MB_Bottom_Detect_Filter_Max_Depth = 39.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 60.688139 meters # Minimum depth: 218.042146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 193.042146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836296; longitude = -122.161282; captureRadius = 10; duration = 48; initialDepth = 193.042146; finalDepth = 184.658757; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.969611 # Altitude Set: 29.969611 # Vehicle Depth:193.042146 # Seafloor Depth:-223.011757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 71.93; MB_Bottom_Detect_Filter_Min_Depth = 22.48; MB_Bottom_Detect_Filter_Max_Depth = 38.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 27 # Segment length 28.776129 meters # Minimum depth: 221.611728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 196.611728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836646; longitude = -122.161805; captureRadius = 10; duration = 23; initialDepth = 196.611728; finalDepth = 193.042146; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 57.552161 meters # Minimum depth: 213.468186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 188.468186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836833; longitude = -122.161581; captureRadius = 10; duration = 46; initialDepth = 188.468186; finalDepth = 196.611728; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 36.769538 # Altitude Set: 36.769538 # Vehicle Depth:188.468186 # Seafloor Depth:-224.788411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 88.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 88.25; MB_Bottom_Detect_Filter_Min_Depth = 27.58; MB_Bottom_Detect_Filter_Max_Depth = 47.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 26 # Segment length 34.814266 meters # Minimum depth: 208.847969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 183.847969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837207; longitude = -122.161133; captureRadius = 10; duration = 27; initialDepth = 183.847969; finalDepth = 188.468186; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 52.221502 meters # Minimum depth: 196.844893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 171.844893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837005; longitude = -122.160834; captureRadius = 10; duration = 41; initialDepth = 171.844893; finalDepth = 183.847969; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.714167 # Altitude Set: 34.714167 # Vehicle Depth:171.844893 # Seafloor Depth:-206.559060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 83.31; MB_Bottom_Detect_Filter_Min_Depth = 26.04; MB_Bottom_Detect_Filter_Max_Depth = 45.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 60.925242 meters # Minimum depth: 194.479781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 169.479781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836701; longitude = -122.160386; captureRadius = 10; duration = 48; initialDepth = 169.479781; finalDepth = 171.844893; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.714167 # Altitude Set: 34.714167 # Vehicle Depth:169.479781 # Seafloor Depth:-196.318179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 83.31; MB_Bottom_Detect_Filter_Min_Depth = 26.04; MB_Bottom_Detect_Filter_Max_Depth = 45.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 25 # Segment length 27.278813 meters # Minimum depth: 194.049296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 169.049296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836348; longitude = -122.159863; captureRadius = 10; duration = 21; initialDepth = 169.049296; finalDepth = 169.479781; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.696550 meters # Minimum depth: 194.049296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 169.049296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836161; longitude = -122.160062; captureRadius = 10; duration = 47; initialDepth = 169.049296; finalDepth = 169.049296; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.480253 # Altitude Set: 30.480253 # Vehicle Depth:169.049296 # Seafloor Depth:-199.529549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 73.15; MB_Bottom_Detect_Filter_Min_Depth = 22.86; MB_Bottom_Detect_Filter_Max_Depth = 39.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 54.874756 meters # Minimum depth: 202.225101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 177.225101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835753; longitude = -122.160498; captureRadius = 10; duration = 43; initialDepth = 177.225101; finalDepth = 169.049296; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.753696 # Altitude Set: 32.753696 # Vehicle Depth:177.225101 # Seafloor Depth:-209.978797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 78.61; MB_Bottom_Detect_Filter_Min_Depth = 24.57; MB_Bottom_Detect_Filter_Max_Depth = 42.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.565772 meters # Minimum depth: 213.114849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 188.114849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835377; longitude = -122.160898; captureRadius = 10; duration = 42; initialDepth = 188.114849; finalDepth = 177.225101; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.836239 # Altitude Set: 34.836239 # Vehicle Depth:188.114849 # Seafloor Depth:-222.951088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 83.61; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 45.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 62.006005 meters # Minimum depth: 226.224945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 201.224945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835017; longitude = -122.161282; captureRadius = 10; duration = 49; initialDepth = 201.224945; finalDepth = 188.114849; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.836239 # Altitude Set: 34.836239 # Vehicle Depth:201.224945 # Seafloor Depth:-232.678096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 83.61; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 45.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 60.783677 meters # Minimum depth: 237.292913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 212.292913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834593; longitude = -122.161734; captureRadius = 10; duration = 48; initialDepth = 212.292913; finalDepth = 201.224945; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.630218 # Altitude Set: 32.630218 # Vehicle Depth:212.292913 # Seafloor Depth:-244.923131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 78.31; MB_Bottom_Detect_Filter_Min_Depth = 24.47; MB_Bottom_Detect_Filter_Max_Depth = 42.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.788572 meters # Minimum depth: 247.535398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 222.535398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834177; longitude = -122.162178; captureRadius = 10; duration = 43; initialDepth = 222.535398; finalDepth = 212.292913; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.937436 # Altitude Set: 33.937436 # Vehicle Depth:222.535398 # Seafloor Depth:-256.472834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 81.45; MB_Bottom_Detect_Filter_Min_Depth = 25.45; MB_Bottom_Detect_Filter_Max_Depth = 44.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.652844 meters # Minimum depth: 259.011144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 234.011144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833809; longitude = -122.162571; captureRadius = 10; duration = 42; initialDepth = 234.011144; finalDepth = 222.535398; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.937436 # Altitude Set: 33.937436 # Vehicle Depth:234.011144 # Seafloor Depth:-264.822520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 81.45; MB_Bottom_Detect_Filter_Min_Depth = 25.45; MB_Bottom_Detect_Filter_Max_Depth = 44.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 61.395281 meters # Minimum depth: 266.462893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 241.462893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833442; longitude = -122.162962; captureRadius = 10; duration = 49; initialDepth = 241.462893; finalDepth = 234.011144; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.811376 # Altitude Set: 30.811376 # Vehicle Depth:241.462893 # Seafloor Depth:-271.806052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 73.95; MB_Bottom_Detect_Filter_Min_Depth = 23.11; MB_Bottom_Detect_Filter_Max_Depth = 40.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 64.994930 meters # Minimum depth: 274.098292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 249.098292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833021; longitude = -122.163410; captureRadius = 10; duration = 51; initialDepth = 249.098292; finalDepth = 241.462893; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.343159 # Altitude Set: 30.343159 # Vehicle Depth:249.098292 # Seafloor Depth:-278.594096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 72.82; MB_Bottom_Detect_Filter_Min_Depth = 22.76; MB_Bottom_Detect_Filter_Max_Depth = 39.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 57.796037 meters # Minimum depth: 282.869814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 257.869814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832577; longitude = -122.163885; captureRadius = 10; duration = 46; initialDepth = 257.869814; finalDepth = 249.098292; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.495804 # Altitude Set: 29.495804 # Vehicle Depth:257.869814 # Seafloor Depth:-284.502615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 70.79; MB_Bottom_Detect_Filter_Min_Depth = 22.12; MB_Bottom_Detect_Filter_Max_Depth = 38.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.777423 meters # Minimum depth: 286.604075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 261.604075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832181; longitude = -122.164306; captureRadius = 10; duration = 45; initialDepth = 261.604075; finalDepth = 257.869814; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.505612 # Altitude Set: 28.505612 # Vehicle Depth:261.604075 # Seafloor Depth:-290.109687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 68.41; MB_Bottom_Detect_Filter_Min_Depth = 21.38; MB_Bottom_Detect_Filter_Max_Depth = 37.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.665118 meters # Minimum depth: 290.922028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 265.922028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831792; longitude = -122.164721; captureRadius = 10; duration = 40; initialDepth = 265.922028; finalDepth = 261.604075; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.317375 # Altitude Set: 30.317375 # Vehicle Depth:265.922028 # Seafloor Depth:-296.239403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 72.76; MB_Bottom_Detect_Filter_Min_Depth = 22.74; MB_Bottom_Detect_Filter_Max_Depth = 39.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 63.908812 meters # Minimum depth: 298.030305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 273.030305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831446; longitude = -122.165090; captureRadius = 10; duration = 51; initialDepth = 273.030305; finalDepth = 265.922028; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.317375 # Altitude Set: 30.317375 # Vehicle Depth:273.030305 # Seafloor Depth:-302.242012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 72.76; MB_Bottom_Detect_Filter_Min_Depth = 22.74; MB_Bottom_Detect_Filter_Max_Depth = 39.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 58.883169 meters # Minimum depth: 305.339226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 280.339226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831008; longitude = -122.165557; captureRadius = 10; duration = 47; initialDepth = 280.339226; finalDepth = 273.030305; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.211707 # Altitude Set: 29.211707 # Vehicle Depth:280.339226 # Seafloor Depth:-307.525716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 70.11; MB_Bottom_Detect_Filter_Min_Depth = 21.91; MB_Bottom_Detect_Filter_Max_Depth = 37.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 55.691232 meters # Minimum depth: 308.304240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 283.304240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830605; longitude = -122.165987; captureRadius = 10; duration = 44; initialDepth = 283.304240; finalDepth = 280.339226; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.18649 # Altitude Set: 27.18649 # Vehicle Depth:283.30424 # Seafloor Depth:-309.521503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 65.25; MB_Bottom_Detect_Filter_Min_Depth = 20.39; MB_Bottom_Detect_Filter_Max_Depth = 35.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 51.752196 meters # Minimum depth: 310.327793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 285.327793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830224; longitude = -122.166393; captureRadius = 10; duration = 41; initialDepth = 285.327793; finalDepth = 283.304240; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.808543 # Altitude Set: 26.808543 # Vehicle Depth:285.327793 # Seafloor Depth:-312.136336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 64.34; MB_Bottom_Detect_Filter_Min_Depth = 20.11; MB_Bottom_Detect_Filter_Max_Depth = 34.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 62.822677 meters # Minimum depth: 311.344661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 286.344661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829870; longitude = -122.166771; captureRadius = 10; duration = 50; initialDepth = 286.344661; finalDepth = 285.327793; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.311772 # Altitude Set: 27.311772 # Vehicle Depth:286.344661 # Seafloor Depth:-313.656433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 65.55; MB_Bottom_Detect_Filter_Min_Depth = 20.48; MB_Bottom_Detect_Filter_Max_Depth = 35.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.970319 meters # Minimum depth: 307.894349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 282.894349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829440; longitude = -122.167229; captureRadius = 10; duration = 47; initialDepth = 282.894349; finalDepth = 286.344661; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.247195 # Altitude Set: 28.247195 # Vehicle Depth:282.894349 # Seafloor Depth:-311.141544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 67.79; MB_Bottom_Detect_Filter_Min_Depth = 21.19; MB_Bottom_Detect_Filter_Max_Depth = 36.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 54.605024 meters # Minimum depth: 305.728295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 280.728295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829030; longitude = -122.167667; captureRadius = 10; duration = 43; initialDepth = 280.728295; finalDepth = 282.894349; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.247195 # Altitude Set: 28.247195 # Vehicle Depth:280.728295 # Seafloor Depth:-307.721024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 67.79; MB_Bottom_Detect_Filter_Min_Depth = 21.19; MB_Bottom_Detect_Filter_Max_Depth = 36.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.839292 meters # Minimum depth: 304.696043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 279.696043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828656; longitude = -122.168065; captureRadius = 10; duration = 42; initialDepth = 279.696043; finalDepth = 280.728295; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.992729 # Altitude Set: 26.992729 # Vehicle Depth:279.696043 # Seafloor Depth:-305.296361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 64.78; MB_Bottom_Detect_Filter_Min_Depth = 20.24; MB_Bottom_Detect_Filter_Max_Depth = 35.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.280521 meters # Minimum depth: 304.696043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 279.696043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828294; longitude = -122.168451; captureRadius = 10; duration = 45; initialDepth = 279.696043; finalDepth = 279.696043; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.600318 # Altitude Set: 25.600318 # Vehicle Depth:279.696043 # Seafloor Depth:-305.027426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.20; MB_Bottom_Detect_Filter_Max_Range = 61.44; MB_Bottom_Detect_Filter_Min_Depth = 19.20; MB_Bottom_Detect_Filter_Max_Depth = 33.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 24 # Segment length 29.795449 meters # Minimum depth: 304.991154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 279.991154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827909; longitude = -122.168862; captureRadius = 10; duration = 23; initialDepth = 279.991154; finalDepth = 279.696043; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077922 meters # Minimum depth: 307.126844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 282.126844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827648; longitude = -122.168939; captureRadius = 10; duration = 40; initialDepth = 282.126844; finalDepth = 279.991154; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.151465 # Altitude Set: 27.151465 # Vehicle Depth:282.126844 # Seafloor Depth:-307.306463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 65.16; MB_Bottom_Detect_Filter_Min_Depth = 20.36; MB_Bottom_Detect_Filter_Max_Depth = 35.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077932 meters # Minimum depth: 307.982124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 282.982124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827200; longitude = -122.169070; captureRadius = 10; duration = 40; initialDepth = 282.982124; finalDepth = 282.126844; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.471651 # Altitude Set: 26.471651 # Vehicle Depth:282.982124 # Seafloor Depth:-309.453775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.85; MB_Bottom_Detect_Filter_Max_Range = 63.53; MB_Bottom_Detect_Filter_Min_Depth = 19.85; MB_Bottom_Detect_Filter_Max_Depth = 34.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077944 meters # Minimum depth: 310.537635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 285.537635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826752; longitude = -122.169202; captureRadius = 10; duration = 40; initialDepth = 285.537635; finalDepth = 282.982124; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.134791 # Altitude Set: 27.134791 # Vehicle Depth:285.537635 # Seafloor Depth:-312.672426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 65.12; MB_Bottom_Detect_Filter_Min_Depth = 20.35; MB_Bottom_Detect_Filter_Max_Depth = 35.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077955 meters # Minimum depth: 313.175101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 288.175101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826304; longitude = -122.169334; captureRadius = 10; duration = 40; initialDepth = 288.175101; finalDepth = 285.537635; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.134791 # Altitude Set: 27.134791 # Vehicle Depth:288.175101 # Seafloor Depth:-314.366310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 65.12; MB_Bottom_Detect_Filter_Min_Depth = 20.35; MB_Bottom_Detect_Filter_Max_Depth = 35.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077965 meters # Minimum depth: 314.488861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 289.488861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825856; longitude = -122.169466; captureRadius = 10; duration = 40; initialDepth = 289.488861; finalDepth = 288.175101; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.756955 # Altitude Set: 27.756955 # Vehicle Depth:289.488861 # Seafloor Depth:-317.245816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 66.62; MB_Bottom_Detect_Filter_Min_Depth = 20.82; MB_Bottom_Detect_Filter_Max_Depth = 36.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077977 meters # Minimum depth: 317.715366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 292.715366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825407; longitude = -122.169597; captureRadius = 10; duration = 40; initialDepth = 292.715366; finalDepth = 289.488861; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.756955 # Altitude Set: 27.756955 # Vehicle Depth:292.715366 # Seafloor Depth:-319.456755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 66.62; MB_Bottom_Detect_Filter_Min_Depth = 20.82; MB_Bottom_Detect_Filter_Max_Depth = 36.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077988 meters # Minimum depth: 319.596798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 294.596798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824959; longitude = -122.169729; captureRadius = 10; duration = 40; initialDepth = 294.596798; finalDepth = 292.715366; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.741389 # Altitude Set: 26.741389 # Vehicle Depth:294.596798 # Seafloor Depth:-320.782950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 64.18; MB_Bottom_Detect_Filter_Min_Depth = 20.06; MB_Bottom_Detect_Filter_Max_Depth = 34.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.077999 meters # Minimum depth: 321.191473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 296.191473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824511; longitude = -122.169861; captureRadius = 10; duration = 40; initialDepth = 296.191473; finalDepth = 294.596798; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.186152 # Altitude Set: 26.186152 # Vehicle Depth:296.191473 # Seafloor Depth:-321.661867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 62.85; 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 24 # Segment length 51.078010 meters # Minimum depth: 322.184434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 297.184434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824063; longitude = -122.169993; captureRadius = 10; duration = 40; initialDepth = 297.184434; finalDepth = 296.191473; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.425042 # Altitude Set: 26.425042 # Vehicle Depth:297.184434 # Seafloor Depth:-323.609476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 63.42; MB_Bottom_Detect_Filter_Min_Depth = 19.82; MB_Bottom_Detect_Filter_Max_Depth = 34.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.078021 meters # Minimum depth: 324.617700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 299.617700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823615; longitude = -122.170125; captureRadius = 10; duration = 40; initialDepth = 299.617700; finalDepth = 297.184434; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.955628 # Altitude Set: 26.955628 # Vehicle Depth:299.6177 # Seafloor Depth:-326.573328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 64.69; MB_Bottom_Detect_Filter_Min_Depth = 20.22; MB_Bottom_Detect_Filter_Max_Depth = 35.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.078033 meters # Minimum depth: 326.012916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 301.012916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823167; longitude = -122.170256; captureRadius = 10; duration = 40; initialDepth = 301.012916; finalDepth = 299.617700; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.217594 # Altitude Set: 27.217594 # Vehicle Depth:301.012916 # Seafloor Depth:-328.230510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 65.32; MB_Bottom_Detect_Filter_Min_Depth = 20.41; MB_Bottom_Detect_Filter_Max_Depth = 35.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.591051 meters # Minimum depth: 329.053212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 304.053212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822719; longitude = -122.170388; captureRadius = 10; duration = 47; initialDepth = 304.053212; finalDepth = 301.012916; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.217594 # Altitude Set: 27.217594 # Vehicle Depth:304.053212 # Seafloor Depth:-330.246451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 65.32; MB_Bottom_Detect_Filter_Min_Depth = 20.41; MB_Bottom_Detect_Filter_Max_Depth = 35.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 23 # Segment length 17.303604 meters # Minimum depth: 329.410187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 304.410187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822196; longitude = -122.170542; captureRadius = 10; duration = 13; initialDepth = 304.410187; finalDepth = 304.053212; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 51.910869 meters # Minimum depth: 331.283803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 306.283803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822154; longitude = -122.170355; captureRadius = 10; duration = 41; initialDepth = 306.283803; finalDepth = 304.410187; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.898529 # Altitude Set: 27.898529 # Vehicle Depth:306.283803 # Seafloor Depth:-331.911292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 66.96; MB_Bottom_Detect_Filter_Min_Depth = 20.92; MB_Bottom_Detect_Filter_Max_Depth = 36.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 51.910953 meters # Minimum depth: 331.737374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 306.737374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822027; longitude = -122.169795; captureRadius = 10; duration = 41; initialDepth = 306.737374; finalDepth = 306.283803; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.968181 # Altitude Set: 25.968181 # Vehicle Depth:306.737374 # Seafloor Depth:-332.705555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.32; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 51.911038 meters # Minimum depth: 332.900922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 307.900922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821899; longitude = -122.169235; captureRadius = 10; duration = 41; initialDepth = 307.900922; finalDepth = 306.737374; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.217409 # Altitude Set: 28.217409 # Vehicle Depth:307.900922 # Seafloor Depth:-336.118331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 67.72; MB_Bottom_Detect_Filter_Min_Depth = 21.16; MB_Bottom_Detect_Filter_Max_Depth = 36.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 55.371866 meters # Minimum depth: 336.152427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.152427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821772; longitude = -122.168675; captureRadius = 10; duration = 44; initialDepth = 311.152427; finalDepth = 307.900922; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.217409 # Altitude Set: 28.217409 # Vehicle Depth:311.152427 # Seafloor Depth:-337.236894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 67.72; MB_Bottom_Detect_Filter_Min_Depth = 21.16; MB_Bottom_Detect_Filter_Max_Depth = 36.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 22 # Segment length 29.575829 meters # Minimum depth: 337.003487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 312.003487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821636; longitude = -122.168078; captureRadius = 10; duration = 23; initialDepth = 312.003487; finalDepth = 311.152427; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 54.926547 meters # Minimum depth: 338.788652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 313.788652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821375; longitude = -122.168143; captureRadius = 10; duration = 43; initialDepth = 313.788652; finalDepth = 312.003487; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.590833 # Altitude Set: 27.590833 # Vehicle Depth:313.788652 # Seafloor Depth:-340.144669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 66.22; MB_Bottom_Detect_Filter_Min_Depth = 20.69; MB_Bottom_Detect_Filter_Max_Depth = 35.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 21 # Segment length 37.983783 meters # Minimum depth: 340.144669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 315.144669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820889; longitude = -122.168264; captureRadius = 10; duration = 30; initialDepth = 315.144669; finalDepth = 313.788652; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.795997 meters # Minimum depth: 340.264228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 315.264228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820980; longitude = -122.168675; captureRadius = 10; duration = 41; initialDepth = 315.264228; finalDepth = 315.144669; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.978948 # Altitude Set: 26.978948 # Vehicle Depth:315.264228 # Seafloor Depth:-340.936425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 64.75; MB_Bottom_Detect_Filter_Min_Depth = 20.23; MB_Bottom_Detect_Filter_Max_Depth = 35.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.795915 meters # Minimum depth: 339.114829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 314.114829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821103; longitude = -122.169235; captureRadius = 10; duration = 41; initialDepth = 314.114829; finalDepth = 315.264228; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.286072 # Altitude Set: 26.286072 # Vehicle Depth:314.114829 # Seafloor Depth:-340.400901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.71; MB_Bottom_Detect_Filter_Max_Range = 63.09; MB_Bottom_Detect_Filter_Min_Depth = 19.71; 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 21 # Segment length 51.795833 meters # Minimum depth: 337.961306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 312.961306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821227; longitude = -122.169795; captureRadius = 10; duration = 41; initialDepth = 312.961306; finalDepth = 314.114829; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.286072 # Altitude Set: 26.286072 # Vehicle Depth:312.961306 # Seafloor Depth:-339.015186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.71; MB_Bottom_Detect_Filter_Max_Range = 63.09; MB_Bottom_Detect_Filter_Min_Depth = 19.71; 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 21 # Segment length 51.795751 meters # Minimum depth: 336.278142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.278142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821350; longitude = -122.170355; captureRadius = 10; duration = 41; initialDepth = 311.278142; finalDepth = 312.961306; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.419576 # Altitude Set: 26.419576 # Vehicle Depth:311.278142 # Seafloor Depth:-337.697718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 63.41; MB_Bottom_Detect_Filter_Min_Depth = 19.81; MB_Bottom_Detect_Filter_Max_Depth = 34.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.592524 meters # Minimum depth: 336.278142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.278142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821474; longitude = -122.170915; captureRadius = 10; duration = 42; initialDepth = 311.278142; finalDepth = 311.278142; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.419576 # Altitude Set: 26.419576 # Vehicle Depth:311.278142 # Seafloor Depth:-336.754114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 63.41; MB_Bottom_Detect_Filter_Min_Depth = 19.81; MB_Bottom_Detect_Filter_Max_Depth = 34.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.998732 meters # Minimum depth: 336.602890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.602890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821599; longitude = -122.171484; captureRadius = 10; duration = 40; initialDepth = 311.602890; finalDepth = 311.278142; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.475972 # Altitude Set: 25.475972 # Vehicle Depth:311.60289 # Seafloor Depth:-336.691538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 61.14; MB_Bottom_Detect_Filter_Min_Depth = 19.11; MB_Bottom_Detect_Filter_Max_Depth = 33.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 58.701566 meters # Minimum depth: 337.430960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 312.430960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821720; longitude = -122.172036; captureRadius = 10; duration = 46; initialDepth = 312.430960; finalDepth = 311.602890; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.060018 # Altitude Set: 26.060018 # Vehicle Depth:312.43096 # Seafloor Depth:-338.490978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.55; MB_Bottom_Detect_Filter_Max_Range = 62.54; MB_Bottom_Detect_Filter_Min_Depth = 19.55; MB_Bottom_Detect_Filter_Max_Depth = 33.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 20 # Segment length 34.205244 meters # Minimum depth: 338.152912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 313.152912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821860; longitude = -122.172670; captureRadius = 10; duration = 27; initialDepth = 313.152912; finalDepth = 312.430960; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.859162 meters # Minimum depth: 336.709381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.709381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822159; longitude = -122.172575; captureRadius = 10; duration = 47; initialDepth = 311.709381; finalDepth = 313.152912; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.414471 # Altitude Set: 27.414471 # Vehicle Depth:311.709381 # Seafloor Depth:-338.071367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 65.79; MB_Bottom_Detect_Filter_Min_Depth = 20.56; MB_Bottom_Detect_Filter_Max_Depth = 35.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 19 # Segment length 14.000039 meters # Minimum depth: 336.709381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 311.709381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822682; longitude = -122.172409; captureRadius = 10; duration = 11; initialDepth = 311.709381; finalDepth = 311.709381; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.307904 meters # Minimum depth: 335.203569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 310.203569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822643; longitude = -122.172260; captureRadius = 10; duration = 42; initialDepth = 310.203569; finalDepth = 311.709381; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.537591 # Altitude Set: 26.537591 # Vehicle Depth:310.203569 # Seafloor Depth:-336.741160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 63.69; MB_Bottom_Detect_Filter_Min_Depth = 19.90; MB_Bottom_Detect_Filter_Max_Depth = 34.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.692605 meters # Minimum depth: 334.447080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 309.447080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822495; longitude = -122.171691; captureRadius = 10; duration = 41; initialDepth = 309.447080; finalDepth = 310.203569; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.537591 # Altitude Set: 26.537591 # Vehicle Depth:309.44708 # Seafloor Depth:-335.503444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 63.69; MB_Bottom_Detect_Filter_Min_Depth = 19.90; MB_Bottom_Detect_Filter_Max_Depth = 34.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.000427 meters # Minimum depth: 332.346295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 307.346295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822352; longitude = -122.171139; captureRadius = 10; duration = 44; initialDepth = 307.346295; finalDepth = 309.447080; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.255017 # Altitude Set: 27.255017 # Vehicle Depth:307.346295 # Seafloor Depth:-334.601312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 65.41; MB_Bottom_Detect_Filter_Min_Depth = 20.44; MB_Bottom_Detect_Filter_Max_Depth = 35.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 18 # Segment length 4.278757 meters # Minimum depth: 332.308716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 307.308716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822196; longitude = -122.170542; captureRadius = 10; duration = 3; initialDepth = 307.308716; finalDepth = 307.346295; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345089 meters # Minimum depth: 332.308716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 307.308716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822159; longitude = -122.170554; captureRadius = 10; duration = 41; initialDepth = 307.308716; finalDepth = 307.308716; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.413504 # Altitude Set: 25.413504 # Vehicle Depth:307.308716 # Seafloor Depth:-332.722220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.06; MB_Bottom_Detect_Filter_Max_Range = 60.99; MB_Bottom_Detect_Filter_Min_Depth = 19.06; MB_Bottom_Detect_Filter_Max_Depth = 33.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345103 meters # Minimum depth: 333.318714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 308.318714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821711; longitude = -122.170698; captureRadius = 10; duration = 41; initialDepth = 308.318714; finalDepth = 307.308716; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.003947 # Altitude Set: 27.003947 # Vehicle Depth:308.318714 # Seafloor Depth:-335.322661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 64.81; MB_Bottom_Detect_Filter_Min_Depth = 20.25; MB_Bottom_Detect_Filter_Max_Depth = 35.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345117 meters # Minimum depth: 335.357559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 310.357559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821263; longitude = -122.170842; captureRadius = 10; duration = 41; initialDepth = 310.357559; finalDepth = 308.318714; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.552852 # Altitude Set: 27.552852 # Vehicle Depth:310.357559 # Seafloor Depth:-337.910411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 66.13; MB_Bottom_Detect_Filter_Min_Depth = 20.66; MB_Bottom_Detect_Filter_Max_Depth = 35.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345131 meters # Minimum depth: 337.749838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 312.749838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820815; longitude = -122.170987; captureRadius = 10; duration = 41; initialDepth = 312.749838; finalDepth = 310.357559; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.552852 # Altitude Set: 27.552852 # Vehicle Depth:312.749838 # Seafloor Depth:-339.786211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 66.13; MB_Bottom_Detect_Filter_Min_Depth = 20.66; MB_Bottom_Detect_Filter_Max_Depth = 35.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345145 meters # Minimum depth: 340.500638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 315.500638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820367; longitude = -122.171131; captureRadius = 10; duration = 41; initialDepth = 315.500638; finalDepth = 312.749838; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.036373 # Altitude Set: 27.036373 # Vehicle Depth:315.500638 # Seafloor Depth:-342.177332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 64.89; MB_Bottom_Detect_Filter_Min_Depth = 20.28; MB_Bottom_Detect_Filter_Max_Depth = 35.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345159 meters # Minimum depth: 342.184391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 317.184391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819919; longitude = -122.171275; captureRadius = 10; duration = 41; initialDepth = 317.184391; finalDepth = 315.500638; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.689625 # Altitude Set: 28.689625 # Vehicle Depth:317.184391 # Seafloor Depth:-345.874016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 68.86; MB_Bottom_Detect_Filter_Min_Depth = 21.52; MB_Bottom_Detect_Filter_Max_Depth = 37.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345173 meters # Minimum depth: 346.826553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 321.826553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819471; longitude = -122.171419; captureRadius = 10; duration = 41; initialDepth = 321.826553; finalDepth = 317.184391; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.689625 # Altitude Set: 28.689625 # Vehicle Depth:321.826553 # Seafloor Depth:-349.974670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 68.86; MB_Bottom_Detect_Filter_Min_Depth = 21.52; MB_Bottom_Detect_Filter_Max_Depth = 37.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345188 meters # Minimum depth: 350.355035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 325.355035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819023; longitude = -122.171564; captureRadius = 10; duration = 41; initialDepth = 325.355035; finalDepth = 321.826553; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.148117 # Altitude Set: 28.148117 # Vehicle Depth:325.355035 # Seafloor Depth:-351.176562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 67.56; MB_Bottom_Detect_Filter_Min_Depth = 21.11; MB_Bottom_Detect_Filter_Max_Depth = 36.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345201 meters # Minimum depth: 351.731528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 326.731528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818574; longitude = -122.171708; captureRadius = 10; duration = 41; initialDepth = 326.731528; finalDepth = 325.355035; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.072583 # Altitude Set: 27.072583 # Vehicle Depth:326.731528 # Seafloor Depth:-353.804111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 64.97; MB_Bottom_Detect_Filter_Min_Depth = 20.30; MB_Bottom_Detect_Filter_Max_Depth = 35.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.345215 meters # Minimum depth: 354.216504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 329.216504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818126; longitude = -122.171852; captureRadius = 10; duration = 41; initialDepth = 329.216504; finalDepth = 326.731528; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.072583 # Altitude Set: 27.072583 # Vehicle Depth:329.216504 # Seafloor Depth:-355.567412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 64.97; MB_Bottom_Detect_Filter_Min_Depth = 20.30; MB_Bottom_Detect_Filter_Max_Depth = 35.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.803245 meters # Minimum depth: 355.476260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 330.476260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817678; longitude = -122.171996; captureRadius = 10; duration = 43; initialDepth = 330.476260; finalDepth = 329.216504; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.350908 # Altitude Set: 26.350908 # Vehicle Depth:330.47626 # Seafloor Depth:-355.932890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 63.24; MB_Bottom_Detect_Filter_Min_Depth = 19.76; MB_Bottom_Detect_Filter_Max_Depth = 34.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.165998 meters # Minimum depth: 355.476260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 330.476260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817209; longitude = -122.172148; captureRadius = 10; duration = 42; initialDepth = 330.476260; finalDepth = 330.476260; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.87087 # Altitude Set: 26.87087 # Vehicle Depth:330.47626 # Seafloor Depth:-357.347130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 64.49; MB_Bottom_Detect_Filter_Min_Depth = 20.15; MB_Bottom_Detect_Filter_Max_Depth = 34.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 17 # Segment length 28.443411 meters # Minimum depth: 355.476260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 330.476260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816745; longitude = -122.172297; captureRadius = 10; duration = 22; initialDepth = 330.476260; finalDepth = 330.476260; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198218 meters # Minimum depth: 356.656995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 331.656995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816558; longitude = -122.172515; captureRadius = 10; duration = 40; initialDepth = 331.656995; finalDepth = 330.476260; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.451393 # Altitude Set: 27.451393 # Vehicle Depth:331.656995 # Seafloor Depth:-359.089117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 65.88; MB_Bottom_Detect_Filter_Min_Depth = 20.59; MB_Bottom_Detect_Filter_Max_Depth = 35.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198319 meters # Minimum depth: 358.866861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 333.866861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816222; longitude = -122.172909; captureRadius = 10; duration = 40; initialDepth = 333.866861; finalDepth = 331.656995; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.432122 # Altitude Set: 27.432122 # Vehicle Depth:333.866861 # Seafloor Depth:-359.735523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 65.84; MB_Bottom_Detect_Filter_Min_Depth = 20.57; MB_Bottom_Detect_Filter_Max_Depth = 35.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198419 meters # Minimum depth: 359.647305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 334.647305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815886; longitude = -122.173302; captureRadius = 10; duration = 40; initialDepth = 334.647305; finalDepth = 333.866861; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.378867 # Altitude Set: 26.378867 # Vehicle Depth:334.647305 # Seafloor Depth:-361.026172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 63.31; MB_Bottom_Detect_Filter_Min_Depth = 19.78; MB_Bottom_Detect_Filter_Max_Depth = 34.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198520 meters # Minimum depth: 361.175610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 336.175610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815550; longitude = -122.173696; captureRadius = 10; duration = 40; initialDepth = 336.175610; finalDepth = 334.647305; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.556757 # Altitude Set: 27.556757 # Vehicle Depth:336.17561 # Seafloor Depth:-363.732367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.14; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198620 meters # Minimum depth: 362.100685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 337.100685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815214; longitude = -122.174089; captureRadius = 10; duration = 40; initialDepth = 337.100685; finalDepth = 336.175610; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.556757 # Altitude Set: 27.556757 # Vehicle Depth:337.100685 # Seafloor Depth:-363.582753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.14; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198720 meters # Minimum depth: 363.811751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 338.811751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814878; longitude = -122.174483; captureRadius = 10; duration = 40; initialDepth = 338.811751; finalDepth = 337.100685; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.626498 # Altitude Set: 26.626498 # Vehicle Depth:338.811751 # Seafloor Depth:-365.438249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.97; MB_Bottom_Detect_Filter_Max_Range = 63.90; MB_Bottom_Detect_Filter_Min_Depth = 19.97; MB_Bottom_Detect_Filter_Max_Depth = 34.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198821 meters # Minimum depth: 368.561886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 343.561886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814542; longitude = -122.174876; captureRadius = 10; duration = 40; initialDepth = 343.561886; finalDepth = 338.811751; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.765479 # Altitude Set: 26.765479 # Vehicle Depth:343.561886 # Seafloor Depth:-370.327365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 64.24; MB_Bottom_Detect_Filter_Min_Depth = 20.07; MB_Bottom_Detect_Filter_Max_Depth = 34.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.198921 meters # Minimum depth: 371.148642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 346.148642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814206; longitude = -122.175269; captureRadius = 10; duration = 40; initialDepth = 346.148642; finalDepth = 343.561886; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.765479 # Altitude Set: 26.765479 # Vehicle Depth:346.148642 # Seafloor Depth:-372.329001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 64.24; MB_Bottom_Detect_Filter_Min_Depth = 20.07; MB_Bottom_Detect_Filter_Max_Depth = 34.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.199021 meters # Minimum depth: 372.223004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 347.223004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813870; longitude = -122.175663; captureRadius = 10; duration = 40; initialDepth = 347.223004; finalDepth = 346.148642; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.047106 # Altitude Set: 27.047106 # Vehicle Depth:347.223004 # Seafloor Depth:-374.270110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 64.91; MB_Bottom_Detect_Filter_Min_Depth = 20.29; MB_Bottom_Detect_Filter_Max_Depth = 35.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.199122 meters # Minimum depth: 374.709744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 349.709744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813534; longitude = -122.176056; captureRadius = 10; duration = 40; initialDepth = 349.709744; finalDepth = 347.223004; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.047106 # Altitude Set: 27.047106 # Vehicle Depth:349.709744 # Seafloor Depth:-376.398078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 64.91; MB_Bottom_Detect_Filter_Min_Depth = 20.29; MB_Bottom_Detect_Filter_Max_Depth = 35.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.384391 meters # Minimum depth: 376.969539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 351.969539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813198; longitude = -122.176450; captureRadius = 10; duration = 41; initialDepth = 351.969539; finalDepth = 349.709744; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.688334 # Altitude Set: 26.688334 # Vehicle Depth:351.969539 # Seafloor Depth:-378.025334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 64.05; MB_Bottom_Detect_Filter_Min_Depth = 20.02; MB_Bottom_Detect_Filter_Max_Depth = 34.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.014154 meters # Minimum depth: 377.255717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 352.255717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812854; longitude = -122.176852; captureRadius = 10; duration = 40; initialDepth = 352.255717; finalDepth = 351.969539; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.17735 # Altitude Set: 27.17735 # Vehicle Depth:352.255717 # Seafloor Depth:-379.433067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 65.23; MB_Bottom_Detect_Filter_Min_Depth = 20.38; MB_Bottom_Detect_Filter_Max_Depth = 35.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.888254 meters # Minimum depth: 377.255717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 352.255717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812526; longitude = -122.177237; captureRadius = 10; duration = 45; initialDepth = 352.255717; finalDepth = 352.255717; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.17735 # Altitude Set: 27.17735 # Vehicle Depth:352.255717 # Seafloor Depth:-378.044631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 65.23; MB_Bottom_Detect_Filter_Min_Depth = 20.38; MB_Bottom_Detect_Filter_Max_Depth = 35.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 16 # Segment length 48.018277 meters # Minimum depth: 378.818729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 353.818729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812152; longitude = -122.177674; captureRadius = 10; duration = 38; initialDepth = 353.818729; finalDepth = 352.255717; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 54.020641 meters # Minimum depth: 381.724578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 356.724578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811792; longitude = -122.177972; captureRadius = 10; duration = 43; initialDepth = 356.724578; finalDepth = 353.818729; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.822832 # Altitude Set: 27.822832 # Vehicle Depth:356.724578 # Seafloor Depth:-383.271125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 66.77; MB_Bottom_Detect_Filter_Min_Depth = 20.87; MB_Bottom_Detect_Filter_Max_Depth = 36.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 57.294708 meters # Minimum depth: 382.018727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 357.018727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811387; longitude = -122.178308; captureRadius = 10; duration = 45; initialDepth = 357.018727; finalDepth = 356.724578; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.546547 # Altitude Set: 26.546547 # Vehicle Depth:357.018727 # Seafloor Depth:-382.476815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 63.71; MB_Bottom_Detect_Filter_Min_Depth = 19.91; MB_Bottom_Detect_Filter_Max_Depth = 34.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.746818 meters # Minimum depth: 382.301263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 357.301263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810957; longitude = -122.178665; captureRadius = 10; duration = 40; initialDepth = 357.301263; finalDepth = 357.018727; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.507633 # Altitude Set: 26.507633 # Vehicle Depth:357.301263 # Seafloor Depth:-383.808896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 63.62; MB_Bottom_Detect_Filter_Min_Depth = 19.88; MB_Bottom_Detect_Filter_Max_Depth = 34.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 54.020887 meters # Minimum depth: 384.702951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 359.702951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810577; longitude = -122.178981; captureRadius = 10; duration = 43; initialDepth = 359.702951; finalDepth = 357.301263; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.005499 # Altitude Set: 27.005499 # Vehicle Depth:359.702951 # Seafloor Depth:-386.708450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 64.81; MB_Bottom_Detect_Filter_Min_Depth = 20.25; MB_Bottom_Detect_Filter_Max_Depth = 35.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.545846 meters # Minimum depth: 388.275797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 363.275797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810172; longitude = -122.179317; captureRadius = 10; duration = 47; initialDepth = 363.275797; finalDepth = 359.702951; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.005499 # Altitude Set: 27.005499 # Vehicle Depth:363.275797 # Seafloor Depth:-389.815275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 64.81; MB_Bottom_Detect_Filter_Min_Depth = 20.25; MB_Bottom_Detect_Filter_Max_Depth = 35.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.750570 meters # Minimum depth: 390.824983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 365.824983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809725; longitude = -122.179687; captureRadius = 10; duration = 47; initialDepth = 365.824983; finalDepth = 363.275797; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.664428 # Altitude Set: 27.664428 # Vehicle Depth:365.824983 # Seafloor Depth:-393.489411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 66.39; MB_Bottom_Detect_Filter_Min_Depth = 20.75; MB_Bottom_Detect_Filter_Max_Depth = 35.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 54.771445 meters # Minimum depth: 394.580312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 369.580312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809277; longitude = -122.180059; captureRadius = 10; duration = 43; initialDepth = 369.580312; finalDepth = 365.824983; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.936568 # Altitude Set: 28.936568 # Vehicle Depth:369.580312 # Seafloor Depth:-398.516880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 69.45; MB_Bottom_Detect_Filter_Min_Depth = 21.70; MB_Bottom_Detect_Filter_Max_Depth = 37.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 15 # Segment length 31.377663 meters # Minimum depth: 395.542604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 370.542604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808866; longitude = -122.180399; captureRadius = 10; duration = 25; initialDepth = 370.542604; finalDepth = 369.580312; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 58.833240 meters # Minimum depth: 399.536926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 374.536926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808717; longitude = -122.180101; captureRadius = 10; duration = 47; initialDepth = 374.536926; finalDepth = 370.542604; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.358641 # Altitude Set: 32.358641 # Vehicle Depth:374.536926 # Seafloor Depth:-401.325348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 77.66; MB_Bottom_Detect_Filter_Min_Depth = 24.27; MB_Bottom_Detect_Filter_Max_Depth = 42.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 58.833399 meters # Minimum depth: 398.281677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 373.281677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808437; longitude = -122.179541; captureRadius = 10; duration = 47; initialDepth = 373.281677; finalDepth = 374.536926; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.217118 # Altitude Set: 27.217118 # Vehicle Depth:373.281677 # Seafloor Depth:-400.498795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 65.32; MB_Bottom_Detect_Filter_Min_Depth = 20.41; MB_Bottom_Detect_Filter_Max_Depth = 35.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 58.833557 meters # Minimum depth: 398.281677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 373.281677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808157; longitude = -122.178981; captureRadius = 10; duration = 47; initialDepth = 373.281677; finalDepth = 373.281677; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.217118 # Altitude Set: 27.217118 # Vehicle Depth:373.281677 # Seafloor Depth:-399.897491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 65.32; MB_Bottom_Detect_Filter_Min_Depth = 20.41; MB_Bottom_Detect_Filter_Max_Depth = 35.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.989213 meters # Minimum depth: 398.429687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 373.429687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807877; longitude = -122.178420; captureRadius = 10; duration = 40; initialDepth = 373.429687; finalDepth = 373.281677; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.615814 # Altitude Set: 26.615814 # Vehicle Depth:373.429687 # Seafloor Depth:-398.720825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.96; MB_Bottom_Detect_Filter_Max_Range = 63.88; MB_Bottom_Detect_Filter_Min_Depth = 19.96; MB_Bottom_Detect_Filter_Max_Depth = 34.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 14 # Segment length 33.273677 meters # Minimum depth: 398.429687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 373.429687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807634; longitude = -122.177935; captureRadius = 10; duration = 26; initialDepth = 373.429687; finalDepth = 373.429687; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 61.794039 meters # Minimum depth: 399.915139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 374.915139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807373; longitude = -122.178118; captureRadius = 10; duration = 49; initialDepth = 374.915139; finalDepth = 373.429687; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.360917 # Altitude Set: 27.360917 # Vehicle Depth:374.915139 # Seafloor Depth:-402.276056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 65.67; MB_Bottom_Detect_Filter_Min_Depth = 20.52; MB_Bottom_Detect_Filter_Max_Depth = 35.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 13 # Segment length 31.630737 meters # Minimum depth: 401.744707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 376.744707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806887; longitude = -122.178458; captureRadius = 10; duration = 25; initialDepth = 376.744707; finalDepth = 374.915139; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.307509 meters # Minimum depth: 403.822781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.822781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807041; longitude = -122.178757; captureRadius = 10; duration = 47; initialDepth = 378.822781; finalDepth = 376.744707; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.438439 # Altitude Set: 28.438439 # Vehicle Depth:378.822781 # Seafloor Depth:-405.593750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 68.25; MB_Bottom_Detect_Filter_Min_Depth = 21.33; MB_Bottom_Detect_Filter_Max_Depth = 36.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.133871 meters # Minimum depth: 403.097988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.097988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807329; longitude = -122.179317; captureRadius = 10; duration = 44; initialDepth = 378.097988; finalDepth = 378.822781; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.770969 # Altitude Set: 26.770969 # Vehicle Depth:378.097988 # Seafloor Depth:-404.452441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 64.25; MB_Bottom_Detect_Filter_Min_Depth = 20.08; MB_Bottom_Detect_Filter_Max_Depth = 34.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.619235 meters # Minimum depth: 403.097988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.097988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807597; longitude = -122.179837; captureRadius = 10; duration = 41; initialDepth = 378.097988; finalDepth = 378.097988; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.929977 # Altitude Set: 28.929977 # Vehicle Depth:378.097988 # Seafloor Depth:-407.027965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 69.43; MB_Bottom_Detect_Filter_Min_Depth = 21.70; MB_Bottom_Detect_Filter_Max_Depth = 37.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.307054 meters # Minimum depth: 406.795665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 381.795665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807848; longitude = -122.180325; captureRadius = 10; duration = 47; initialDepth = 381.795665; finalDepth = 378.097988; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.929977 # Altitude Set: 28.929977 # Vehicle Depth:381.795665 # Seafloor Depth:-407.533764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 69.43; MB_Bottom_Detect_Filter_Min_Depth = 21.70; MB_Bottom_Detect_Filter_Max_Depth = 37.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.520697 meters # Minimum depth: 406.813463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 381.813463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808136; longitude = -122.180885; captureRadius = 10; duration = 40; initialDepth = 381.813463; finalDepth = 381.795665; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.738099 # Altitude Set: 25.738099 # Vehicle Depth:381.813463 # Seafloor Depth:-407.051063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 61.77; MB_Bottom_Detect_Filter_Min_Depth = 19.30; MB_Bottom_Detect_Filter_Max_Depth = 33.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.231592 meters # Minimum depth: 408.015516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 383.015516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808381; longitude = -122.181362; captureRadius = 10; duration = 44; initialDepth = 383.015516; finalDepth = 381.813463; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.038466 # Altitude Set: 27.038466 # Vehicle Depth:383.015516 # Seafloor Depth:-410.053982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 64.89; MB_Bottom_Detect_Filter_Min_Depth = 20.28; MB_Bottom_Detect_Filter_Max_Depth = 35.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.399063 meters # Minimum depth: 410.011550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 385.011550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808654; longitude = -122.181893; captureRadius = 10; duration = 41; initialDepth = 385.011550; finalDepth = 383.015516; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.038466 # Altitude Set: 27.038466 # Vehicle Depth:385.01155 # Seafloor Depth:-411.523674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 64.89; MB_Bottom_Detect_Filter_Min_Depth = 20.28; MB_Bottom_Detect_Filter_Max_Depth = 35.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 12 # Segment length 50.173463 meters # Minimum depth: 412.099149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 387.099149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808904; longitude = -122.182378; captureRadius = 10; duration = 40; initialDepth = 387.099149; finalDepth = 385.011550; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.173389 meters # Minimum depth: 410.421338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 385.421338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809277; longitude = -122.182061; captureRadius = 10; duration = 40; initialDepth = 385.421338; finalDepth = 387.099149; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.793022 # Altitude Set: 27.793022 # Vehicle Depth:385.421338 # Seafloor Depth:-413.077454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 66.70; MB_Bottom_Detect_Filter_Min_Depth = 20.84; MB_Bottom_Detect_Filter_Max_Depth = 36.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 11 # Segment length 32.919297 meters # Minimum depth: 407.033482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 382.033482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809650; longitude = -122.181744; captureRadius = 10; duration = 26; initialDepth = 382.033482; finalDepth = 385.421338; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 61.723817 meters # Minimum depth: 403.072513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.072513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809476; longitude = -122.181445; captureRadius = 10; duration = 49; initialDepth = 378.072513; finalDepth = 382.033482; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.570481 # Altitude Set: 28.570481 # Vehicle Depth:378.072513 # Seafloor Depth:-406.634976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 68.57; MB_Bottom_Detect_Filter_Min_Depth = 21.43; MB_Bottom_Detect_Filter_Max_Depth = 37.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.494117 meters # Minimum depth: 402.030646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 377.030646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809150; longitude = -122.180885; captureRadius = 10; duration = 42; initialDepth = 377.030646; finalDepth = 378.072513; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.562463 # Altitude Set: 28.562463 # Vehicle Depth:377.030646 # Seafloor Depth:-402.793233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 68.55; MB_Bottom_Detect_Filter_Min_Depth = 21.42; MB_Bottom_Detect_Filter_Max_Depth = 37.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 10 # Segment length 6.032736 meters # Minimum depth: 402.030646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 377.030646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808866; longitude = -122.180399; captureRadius = 10; duration = 4; initialDepth = 377.030646; finalDepth = 377.030646; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.553073 meters # Minimum depth: 402.030646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 377.030646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808821; longitude = -122.180437; captureRadius = 10; duration = 46; initialDepth = 377.030646; finalDepth = 377.030646; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.870599 # Altitude Set: 25.870599 # Vehicle Depth:377.030646 # Seafloor Depth:-402.270593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.40; MB_Bottom_Detect_Filter_Max_Range = 62.09; MB_Bottom_Detect_Filter_Min_Depth = 19.40; MB_Bottom_Detect_Filter_Max_Depth = 33.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.036338 meters # Minimum depth: 403.147651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.147651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808381; longitude = -122.180799; captureRadius = 10; duration = 40; initialDepth = 378.147651; finalDepth = 377.030646; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.059985 # Altitude Set: 27.059985 # Vehicle Depth:378.147651 # Seafloor Depth:-405.207636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 64.94; MB_Bottom_Detect_Filter_Min_Depth = 20.29; MB_Bottom_Detect_Filter_Max_Depth = 35.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.294830 meters # Minimum depth: 406.286876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 381.286876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808005; longitude = -122.181109; captureRadius = 10; duration = 43; initialDepth = 381.286876; finalDepth = 378.147651; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.465847 # Altitude Set: 28.465847 # Vehicle Depth:381.286876 # Seafloor Depth:-409.752723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 68.32; MB_Bottom_Detect_Filter_Min_Depth = 21.35; MB_Bottom_Detect_Filter_Max_Depth = 37.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.294912 meters # Minimum depth: 410.832403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 385.832403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807597; longitude = -122.181445; captureRadius = 10; duration = 43; initialDepth = 385.832403; finalDepth = 381.286876; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.465847 # Altitude Set: 28.465847 # Vehicle Depth:385.832403 # Seafloor Depth:-412.394318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 68.32; MB_Bottom_Detect_Filter_Min_Depth = 21.35; MB_Bottom_Detect_Filter_Max_Depth = 37.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.294994 meters # Minimum depth: 413.922677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 388.922677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807189; longitude = -122.181781; captureRadius = 10; duration = 43; initialDepth = 388.922677; finalDepth = 385.832403; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.725787 # Altitude Set: 26.725787 # Vehicle Depth:388.922677 # Seafloor Depth:-415.648464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 64.14; MB_Bottom_Detect_Filter_Min_Depth = 20.04; MB_Bottom_Detect_Filter_Max_Depth = 34.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 55.359686 meters # Minimum depth: 415.328161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 390.328161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806781; longitude = -122.182117; captureRadius = 10; duration = 44; initialDepth = 390.328161; finalDepth = 388.922677; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.155543 # Altitude Set: 28.155543 # Vehicle Depth:390.328161 # Seafloor Depth:-418.483704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 67.57; MB_Bottom_Detect_Filter_Min_Depth = 21.12; MB_Bottom_Detect_Filter_Max_Depth = 36.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.230549 meters # Minimum depth: 418.822745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 393.822745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806365; longitude = -122.182460; captureRadius = 10; duration = 42; initialDepth = 393.822745; finalDepth = 390.328161; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.155543 # Altitude Set: 28.155543 # Vehicle Depth:393.822745 # Seafloor Depth:-421.218676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 67.57; MB_Bottom_Detect_Filter_Min_Depth = 21.12; MB_Bottom_Detect_Filter_Max_Depth = 36.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.295241 meters # Minimum depth: 421.093066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 396.093066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805965; longitude = -122.182789; captureRadius = 10; duration = 43; initialDepth = 396.093066; finalDepth = 393.822745; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.395931 # Altitude Set: 27.395931 # Vehicle Depth:396.093066 # Seafloor Depth:-422.617850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 65.75; MB_Bottom_Detect_Filter_Min_Depth = 20.55; MB_Bottom_Detect_Filter_Max_Depth = 35.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 56.424554 meters # Minimum depth: 424.305858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 399.305858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805557; longitude = -122.183125; captureRadius = 10; duration = 45; initialDepth = 399.305858; finalDepth = 396.093066; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.481219 # Altitude Set: 27.481219 # Vehicle Depth:399.305858 # Seafloor Depth:-426.787077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.95; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.166175 meters # Minimum depth: 425.737649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 400.737649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805132; longitude = -122.183474; captureRadius = 10; duration = 41; initialDepth = 400.737649; finalDepth = 399.305858; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.481219 # Altitude Set: 27.481219 # Vehicle Depth:400.737649 # Seafloor Depth:-428.034817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.95; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.295489 meters # Minimum depth: 428.023481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 403.023481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804740; longitude = -122.183797; captureRadius = 10; duration = 43; initialDepth = 403.023481; finalDepth = 400.737649; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.297168 # Altitude Set: 27.297168 # Vehicle Depth:403.023481 # Seafloor Depth:-428.906601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 65.51; MB_Bottom_Detect_Filter_Min_Depth = 20.47; MB_Bottom_Detect_Filter_Max_Depth = 35.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.489430 meters # Minimum depth: 427.595001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 402.595001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804332; longitude = -122.184133; captureRadius = 10; duration = 45; initialDepth = 402.595001; finalDepth = 403.023481; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.50582 # Altitude Set: 26.50582 # Vehicle Depth:402.595001 # Seafloor Depth:-429.100821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 63.61; MB_Bottom_Detect_Filter_Min_Depth = 19.88; MB_Bottom_Detect_Filter_Max_Depth = 34.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.101793 meters # Minimum depth: 427.595001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 402.595001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803900; longitude = -122.184489; captureRadius = 10; duration = 40; initialDepth = 402.595001; finalDepth = 402.595001; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.607383 # Altitude Set: 26.607383 # Vehicle Depth:402.595001 # Seafloor Depth:-429.202384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.96; MB_Bottom_Detect_Filter_Max_Range = 63.86; MB_Bottom_Detect_Filter_Min_Depth = 19.96; MB_Bottom_Detect_Filter_Max_Depth = 34.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.295735 meters # Minimum depth: 427.958525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 402.958525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803516; longitude = -122.184805; captureRadius = 10; duration = 43; initialDepth = 402.958525; finalDepth = 402.595001; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.607383 # Altitude Set: 26.607383 # Vehicle Depth:402.958525 # Seafloor Depth:-428.401289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.96; MB_Bottom_Detect_Filter_Max_Range = 63.86; MB_Bottom_Detect_Filter_Min_Depth = 19.96; MB_Bottom_Detect_Filter_Max_Depth = 34.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.554317 meters # Minimum depth: 427.958525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 402.958525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803108; longitude = -122.185141; captureRadius = 10; duration = 46; initialDepth = 402.958525; finalDepth = 402.958525; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.974328 # Altitude Set: 25.974328 # Vehicle Depth:402.958525 # Seafloor Depth:-428.932853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.34; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.037401 meters # Minimum depth: 429.431524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.431524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802668; longitude = -122.185504; captureRadius = 10; duration = 40; initialDepth = 404.431524; finalDepth = 402.958525; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.974328 # Altitude Set: 25.974328 # Vehicle Depth:404.431524 # Seafloor Depth:-430.015171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.34; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.295982 meters # Minimum depth: 429.382927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.382927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802292; longitude = -122.185814; captureRadius = 10; duration = 43; initialDepth = 404.382927; finalDepth = 404.431524; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.108498 # Altitude Set: 26.108498 # Vehicle Depth:404.382927 # Seafloor Depth:-430.491425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 62.66; MB_Bottom_Detect_Filter_Min_Depth = 19.58; MB_Bottom_Detect_Filter_Max_Depth = 33.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.296065 meters # Minimum depth: 428.792572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 403.792572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801884; longitude = -122.186150; captureRadius = 10; duration = 43; initialDepth = 403.792572; finalDepth = 404.382927; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.108498 # Altitude Set: 26.108498 # Vehicle Depth:403.792572 # Seafloor Depth:-428.792572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 62.66; MB_Bottom_Detect_Filter_Min_Depth = 19.58; MB_Bottom_Detect_Filter_Max_Depth = 33.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.296146 meters # Minimum depth: 429.387187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.387187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801476; longitude = -122.186486; captureRadius = 10; duration = 43; initialDepth = 404.387187; finalDepth = 403.792572; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.050453 # Altitude Set: 25.050453 # Vehicle Depth:404.387187 # Seafloor Depth:-429.437640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.79; MB_Bottom_Detect_Filter_Max_Range = 60.12; MB_Bottom_Detect_Filter_Min_Depth = 18.79; MB_Bottom_Detect_Filter_Max_Depth = 32.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 60.329149 meters # Minimum depth: 429.387187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.387187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801068; longitude = -122.186822; captureRadius = 10; duration = 48; initialDepth = 404.387187; finalDepth = 404.387187; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.226936 # Altitude Set: 25.226936 # Vehicle Depth:404.387187 # Seafloor Depth:-429.614123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.92; MB_Bottom_Detect_Filter_Max_Range = 60.54; MB_Bottom_Detect_Filter_Min_Depth = 18.92; MB_Bottom_Detect_Filter_Max_Depth = 32.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 9 # Segment length 11.683247 meters # Minimum depth: 429.387187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.387187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800614; longitude = -122.187195; captureRadius = 10; duration = 9; initialDepth = 404.387187; finalDepth = 404.387187; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.574662 meters # Minimum depth: 430.707155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 405.707155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800528; longitude = -122.187270; captureRadius = 10; duration = 42; initialDepth = 405.707155; finalDepth = 404.387187; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.866475 # Altitude Set: 28.866475 # Vehicle Depth:405.707155 # Seafloor Depth:-434.474796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 69.28; MB_Bottom_Detect_Filter_Min_Depth = 21.65; MB_Bottom_Detect_Filter_Max_Depth = 37.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.574742 meters # Minimum depth: 435.017427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 410.017427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800139; longitude = -122.187606; captureRadius = 10; duration = 42; initialDepth = 410.017427; finalDepth = 405.707155; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.767641 # Altitude Set: 28.767641 # Vehicle Depth:410.017427 # Seafloor Depth:-436.243284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.04; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 69.04; MB_Bottom_Detect_Filter_Min_Depth = 21.58; MB_Bottom_Detect_Filter_Max_Depth = 37.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.574825 meters # Minimum depth: 435.118237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 410.118237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799749; longitude = -122.187942; captureRadius = 10; duration = 42; initialDepth = 410.118237; finalDepth = 410.017427; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.225857 # Altitude Set: 26.225857 # Vehicle Depth:410.118237 # Seafloor Depth:-436.206295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 62.94; MB_Bottom_Detect_Filter_Min_Depth = 19.67; MB_Bottom_Detect_Filter_Max_Depth = 34.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.574905 meters # Minimum depth: 435.910564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 410.910564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799360; longitude = -122.188278; captureRadius = 10; duration = 42; initialDepth = 410.910564; finalDepth = 410.118237; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.088058 # Altitude Set: 26.088058 # Vehicle Depth:410.910564 # Seafloor Depth:-436.611535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 62.61; MB_Bottom_Detect_Filter_Min_Depth = 19.57; MB_Bottom_Detect_Filter_Max_Depth = 33.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.574987 meters # Minimum depth: 436.987197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 411.987197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798971; longitude = -122.188614; captureRadius = 10; duration = 42; initialDepth = 411.987197; finalDepth = 410.910564; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.502736 # Altitude Set: 28.502736 # Vehicle Depth:411.987197 # Seafloor Depth:-440.489933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 68.41; MB_Bottom_Detect_Filter_Min_Depth = 21.38; MB_Bottom_Detect_Filter_Max_Depth = 37.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.203002 meters # Minimum depth: 439.415211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 414.415211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798581; longitude = -122.188950; captureRadius = 10; duration = 42; initialDepth = 414.415211; finalDepth = 411.987197; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.792277 # Altitude Set: 28.792277 # Vehicle Depth:414.415211 # Seafloor Depth:-443.207488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 69.10; MB_Bottom_Detect_Filter_Min_Depth = 21.59; MB_Bottom_Detect_Filter_Max_Depth = 37.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.947217 meters # Minimum depth: 442.274339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 417.274339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798187; longitude = -122.189290; captureRadius = 10; duration = 41; initialDepth = 417.274339; finalDepth = 414.415211; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.792277 # Altitude Set: 28.792277 # Vehicle Depth:417.274339 # Seafloor Depth:-442.274339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 69.10; MB_Bottom_Detect_Filter_Min_Depth = 21.59; MB_Bottom_Detect_Filter_Max_Depth = 37.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.945271 meters # Minimum depth: 443.807741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 418.807741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797803; longitude = -122.189622; captureRadius = 10; duration = 43; initialDepth = 418.807741; finalDepth = 417.274339; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.500186 # Altitude Set: 27.500186 # Vehicle Depth:418.807741 # Seafloor Depth:-446.307927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 66.00; MB_Bottom_Detect_Filter_Min_Depth = 20.63; MB_Bottom_Detect_Filter_Max_Depth = 35.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.205273 meters # Minimum depth: 446.860363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 421.860363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797403; longitude = -122.189967; captureRadius = 10; duration = 40; initialDepth = 421.860363; finalDepth = 418.807741; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.508628 # Altitude Set: 27.508628 # Vehicle Depth:421.860363 # Seafloor Depth:-449.368991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 66.02; MB_Bottom_Detect_Filter_Min_Depth = 20.63; MB_Bottom_Detect_Filter_Max_Depth = 35.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.687545 meters # Minimum depth: 449.684855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 424.684855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797024; longitude = -122.190294; captureRadius = 10; duration = 43; initialDepth = 424.684855; finalDepth = 421.860363; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.508628 # Altitude Set: 27.508628 # Vehicle Depth:424.684855 # Seafloor Depth:-451.255193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 66.02; MB_Bottom_Detect_Filter_Min_Depth = 20.63; MB_Bottom_Detect_Filter_Max_Depth = 35.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.463325 meters # Minimum depth: 451.324501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 426.324501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796619; longitude = -122.190644; captureRadius = 10; duration = 40; initialDepth = 426.324501; finalDepth = 424.684855; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.570338 # Altitude Set: 26.570338 # Vehicle Depth:426.324501 # Seafloor Depth:-452.083048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.93; MB_Bottom_Detect_Filter_Max_Range = 63.77; MB_Bottom_Detect_Filter_Min_Depth = 19.93; MB_Bottom_Detect_Filter_Max_Depth = 34.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575557 meters # Minimum depth: 450.212290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 425.212290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796246; longitude = -122.190966; captureRadius = 10; duration = 42; initialDepth = 425.212290; finalDepth = 426.324501; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.811541 # Altitude Set: 26.811541 # Vehicle Depth:425.21229 # Seafloor Depth:-452.023831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 64.35; MB_Bottom_Detect_Filter_Min_Depth = 20.11; MB_Bottom_Detect_Filter_Max_Depth = 34.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575638 meters # Minimum depth: 450.212290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 425.212290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795856; longitude = -122.191302; captureRadius = 10; duration = 42; initialDepth = 425.212290; finalDepth = 425.212290; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.089117 # Altitude Set: 27.089117 # Vehicle Depth:425.21229 # Seafloor Depth:-452.301407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 65.01; MB_Bottom_Detect_Filter_Min_Depth = 20.32; MB_Bottom_Detect_Filter_Max_Depth = 35.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575720 meters # Minimum depth: 452.716729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 427.716729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795467; longitude = -122.191638; captureRadius = 10; duration = 42; initialDepth = 427.716729; finalDepth = 425.212290; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.089117 # Altitude Set: 27.089117 # Vehicle Depth:427.716729 # Seafloor Depth:-453.717066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 65.01; MB_Bottom_Detect_Filter_Min_Depth = 20.32; MB_Bottom_Detect_Filter_Max_Depth = 35.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575801 meters # Minimum depth: 455.221308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 430.221308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795078; longitude = -122.191974; captureRadius = 10; duration = 42; initialDepth = 430.221308; finalDepth = 427.716729; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.000337 # Altitude Set: 26.000337 # Vehicle Depth:430.221308 # Seafloor Depth:-455.949594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.50; MB_Bottom_Detect_Filter_Max_Range = 62.40; MB_Bottom_Detect_Filter_Min_Depth = 19.50; MB_Bottom_Detect_Filter_Max_Depth = 33.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575883 meters # Minimum depth: 456.658300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 431.658300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794688; longitude = -122.192311; captureRadius = 10; duration = 42; initialDepth = 431.658300; finalDepth = 430.221308; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.268499 # Altitude Set: 27.268499 # Vehicle Depth:431.6583 # Seafloor Depth:-458.926799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 65.44; MB_Bottom_Detect_Filter_Min_Depth = 20.45; MB_Bottom_Detect_Filter_Max_Depth = 35.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.575964 meters # Minimum depth: 457.169925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 432.169925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794299; longitude = -122.192647; captureRadius = 10; duration = 42; initialDepth = 432.169925; finalDepth = 431.658300; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.268499 # Altitude Set: 27.268499 # Vehicle Depth:432.169925 # Seafloor Depth:-457.195522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 65.44; MB_Bottom_Detect_Filter_Min_Depth = 20.45; MB_Bottom_Detect_Filter_Max_Depth = 35.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576046 meters # Minimum depth: 457.876089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 432.876089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793910; longitude = -122.192983; captureRadius = 10; duration = 42; initialDepth = 432.876089; finalDepth = 432.169925; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.712449 # Altitude Set: 27.712449 # Vehicle Depth:432.876089 # Seafloor Depth:-460.588538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 66.51; MB_Bottom_Detect_Filter_Min_Depth = 20.78; MB_Bottom_Detect_Filter_Max_Depth = 36.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576127 meters # Minimum depth: 462.042155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 437.042155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793520; longitude = -122.193319; captureRadius = 10; duration = 42; initialDepth = 437.042155; finalDepth = 432.876089; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.712449 # Altitude Set: 27.712449 # Vehicle Depth:437.042155 # Seafloor Depth:-463.810671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 66.51; MB_Bottom_Detect_Filter_Min_Depth = 20.78; MB_Bottom_Detect_Filter_Max_Depth = 36.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576208 meters # Minimum depth: 463.929782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 438.929782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793131; longitude = -122.193655; captureRadius = 10; duration = 42; initialDepth = 438.929782; finalDepth = 437.042155; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.768516 # Altitude Set: 26.768516 # Vehicle Depth:438.929782 # Seafloor Depth:-464.030637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 64.24; MB_Bottom_Detect_Filter_Min_Depth = 20.08; MB_Bottom_Detect_Filter_Max_Depth = 34.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576290 meters # Minimum depth: 465.547779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 440.547779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792742; longitude = -122.193991; captureRadius = 10; duration = 42; initialDepth = 440.547779; finalDepth = 438.929782; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.434124 # Altitude Set: 28.434124 # Vehicle Depth:440.547779 # Seafloor Depth:-468.981903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 68.24; MB_Bottom_Detect_Filter_Min_Depth = 21.33; MB_Bottom_Detect_Filter_Max_Depth = 36.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576372 meters # Minimum depth: 469.404678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 444.404678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792352; longitude = -122.194327; captureRadius = 10; duration = 42; initialDepth = 444.404678; finalDepth = 440.547779; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.434124 # Altitude Set: 28.434124 # Vehicle Depth:444.404678 # Seafloor Depth:-471.377328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 68.24; MB_Bottom_Detect_Filter_Min_Depth = 21.33; MB_Bottom_Detect_Filter_Max_Depth = 36.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576452 meters # Minimum depth: 472.105622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 447.105622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791963; longitude = -122.194663; captureRadius = 10; duration = 42; initialDepth = 447.105622; finalDepth = 444.404678; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.97265 # Altitude Set: 26.97265 # Vehicle Depth:447.105622 # Seafloor Depth:-472.718564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 64.73; MB_Bottom_Detect_Filter_Min_Depth = 20.23; MB_Bottom_Detect_Filter_Max_Depth = 35.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.576535 meters # Minimum depth: 472.814709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 447.814709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791574; longitude = -122.194999; captureRadius = 10; duration = 42; initialDepth = 447.814709; finalDepth = 447.105622; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.881752 # Altitude Set: 27.881752 # Vehicle Depth:447.814709 # Seafloor Depth:-475.696461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.92; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 66.92; MB_Bottom_Detect_Filter_Min_Depth = 20.91; MB_Bottom_Detect_Filter_Max_Depth = 36.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.690788 meters # Minimum depth: 475.386502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 450.386502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791185; longitude = -122.195335; captureRadius = 10; duration = 42; initialDepth = 450.386502; finalDepth = 447.814709; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.881752 # Altitude Set: 27.881752 # Vehicle Depth:450.386502 # Seafloor Depth:-475.595498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.92; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 66.92; MB_Bottom_Detect_Filter_Min_Depth = 20.91; MB_Bottom_Detect_Filter_Max_Depth = 36.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.462524 meters # Minimum depth: 475.375021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 450.375021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790794; longitude = -122.195672; captureRadius = 10; duration = 41; initialDepth = 450.375021; finalDepth = 450.386502; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.208996 # Altitude Set: 25.208996 # Vehicle Depth:450.375021 # Seafloor Depth:-475.380138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 60.50; MB_Bottom_Detect_Filter_Min_Depth = 18.91; MB_Bottom_Detect_Filter_Max_Depth = 32.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.433079 meters # Minimum depth: 475.375021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 450.375021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790406; longitude = -122.196007; captureRadius = 10; duration = 42; initialDepth = 450.375021; finalDepth = 450.375021; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.026146 # Altitude Set: 28.026146 # Vehicle Depth:450.375021 # Seafloor Depth:-478.401167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 67.26; MB_Bottom_Detect_Filter_Min_Depth = 21.02; MB_Bottom_Detect_Filter_Max_Depth = 36.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 60.511921 meters # Minimum depth: 478.046213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 453.046213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790010; longitude = -122.196349; captureRadius = 10; duration = 48; initialDepth = 453.046213; finalDepth = 450.375021; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.026146 # Altitude Set: 28.026146 # Vehicle Depth:453.046213 # Seafloor Depth:-478.068161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 67.26; MB_Bottom_Detect_Filter_Min_Depth = 21.02; MB_Bottom_Detect_Filter_Max_Depth = 36.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.469356 meters # Minimum depth: 479.322738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 454.322738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789562; longitude = -122.196735; captureRadius = 10; duration = 44; initialDepth = 454.322738; finalDepth = 453.046213; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.232825 # Altitude Set: 30.232825 # Vehicle Depth:454.322738 # Seafloor Depth:-484.555563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 72.56; MB_Bottom_Detect_Filter_Min_Depth = 22.67; MB_Bottom_Detect_Filter_Max_Depth = 39.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 8 # Segment length 32.694874 meters # Minimum depth: 482.371735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 457.371735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789151; longitude = -122.197090; captureRadius = 10; duration = 26; initialDepth = 457.371735; finalDepth = 454.322738; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.129275 meters # Minimum depth: 483.157042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 458.157042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788981; longitude = -122.196791; captureRadius = 10; duration = 42; initialDepth = 458.157042; finalDepth = 457.371735; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.726898 # Altitude Set: 26.726898 # Vehicle Depth:458.157042 # Seafloor Depth:-483.720796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 64.14; MB_Bottom_Detect_Filter_Min_Depth = 20.05; MB_Bottom_Detect_Filter_Max_Depth = 34.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 7 # Segment length 47.410244 meters # Minimum depth: 481.755318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 456.755318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788703; longitude = -122.196306; captureRadius = 10; duration = 37; initialDepth = 456.755318; finalDepth = 458.157042; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.336448 meters # Minimum depth: 481.755318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 456.755318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789057; longitude = -122.196007; captureRadius = 10; duration = 42; initialDepth = 456.755318; finalDepth = 456.755318; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.863334 # Altitude Set: 27.863334 # Vehicle Depth:456.755318 # Seafloor Depth:-482.287482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 66.87; MB_Bottom_Detect_Filter_Min_Depth = 20.90; MB_Bottom_Detect_Filter_Max_Depth = 36.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.336366 meters # Minimum depth: 478.300112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 453.300112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789454; longitude = -122.195671; captureRadius = 10; duration = 42; initialDepth = 453.300112; finalDepth = 456.755318; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.831954 # Altitude Set: 28.831954 # Vehicle Depth:453.300112 # Seafloor Depth:-482.132066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 69.20; MB_Bottom_Detect_Filter_Min_Depth = 21.62; MB_Bottom_Detect_Filter_Max_Depth = 37.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.336284 meters # Minimum depth: 476.324850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 451.324850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789852; longitude = -122.195335; captureRadius = 10; duration = 42; initialDepth = 451.324850; finalDepth = 453.300112; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.831954 # Altitude Set: 28.831954 # Vehicle Depth:451.32485 # Seafloor Depth:-477.592153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 69.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 69.20; MB_Bottom_Detect_Filter_Min_Depth = 21.62; MB_Bottom_Detect_Filter_Max_Depth = 37.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.336202 meters # Minimum depth: 474.348789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 449.348789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790250; longitude = -122.194999; captureRadius = 10; duration = 42; initialDepth = 449.348789; finalDepth = 451.324850; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.979808 # Altitude Set: 26.979808 # Vehicle Depth:449.348789 # Seafloor Depth:-476.328597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 64.75; MB_Bottom_Detect_Filter_Min_Depth = 20.23; MB_Bottom_Detect_Filter_Max_Depth = 35.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.336120 meters # Minimum depth: 472.503802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 447.503802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790647; longitude = -122.194663; captureRadius = 10; duration = 42; initialDepth = 447.503802; finalDepth = 449.348789; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.979808 # Altitude Set: 26.979808 # Vehicle Depth:447.503802 # Seafloor Depth:-474.379446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 64.75; MB_Bottom_Detect_Filter_Min_Depth = 20.23; MB_Bottom_Detect_Filter_Max_Depth = 35.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.547668 meters # Minimum depth: 472.422330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 447.422330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791045; longitude = -122.194327; captureRadius = 10; duration = 45; initialDepth = 447.422330; finalDepth = 447.503802; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.875644 # Altitude Set: 26.875644 # Vehicle Depth:447.42233 # Seafloor Depth:-472.422330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 64.50; MB_Bottom_Detect_Filter_Min_Depth = 20.16; MB_Bottom_Detect_Filter_Max_Depth = 34.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.124327 meters # Minimum depth: 469.741856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 444.741856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791466; longitude = -122.193971; captureRadius = 10; duration = 40; initialDepth = 444.741856; finalDepth = 447.422330; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.559531 # Altitude Set: 27.559531 # Vehicle Depth:444.741856 # Seafloor Depth:-472.301387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.14; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.056386 meters # Minimum depth: 467.250781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 442.250781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791840; longitude = -122.193655; captureRadius = 10; duration = 44; initialDepth = 442.250781; finalDepth = 444.741856; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.559531 # Altitude Set: 27.559531 # Vehicle Depth:442.250781 # Seafloor Depth:-469.600825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.14; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.615282 meters # Minimum depth: 466.871918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 441.871918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792251; longitude = -122.193308; captureRadius = 10; duration = 41; initialDepth = 441.871918; finalDepth = 442.250781; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.350044 # Altitude Set: 27.350044 # Vehicle Depth:441.871918 # Seafloor Depth:-467.230730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 65.64; MB_Bottom_Detect_Filter_Min_Depth = 20.51; MB_Bottom_Detect_Filter_Max_Depth = 35.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.565111 meters # Minimum depth: 463.490840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 438.490840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792635; longitude = -122.192983; captureRadius = 10; duration = 42; initialDepth = 438.490840; finalDepth = 441.871918; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.273171 # Altitude Set: 28.273171 # Vehicle Depth:438.49084 # Seafloor Depth:-466.764011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 67.86; MB_Bottom_Detect_Filter_Min_Depth = 21.20; MB_Bottom_Detect_Filter_Max_Depth = 36.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.106229 meters # Minimum depth: 461.372464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 436.372464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793035; longitude = -122.192645; captureRadius = 10; duration = 42; initialDepth = 436.372464; finalDepth = 438.490840; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.273171 # Altitude Set: 28.273171 # Vehicle Depth:436.372464 # Seafloor Depth:-463.481376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 67.86; MB_Bottom_Detect_Filter_Min_Depth = 21.20; MB_Bottom_Detect_Filter_Max_Depth = 36.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.335547 meters # Minimum depth: 458.923642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 433.923642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793431; longitude = -122.192311; captureRadius = 10; duration = 42; initialDepth = 433.923642; finalDepth = 436.372464; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.239287 # Altitude Set: 27.239287 # Vehicle Depth:433.923642 # Seafloor Depth:-461.162929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 65.37; MB_Bottom_Detect_Filter_Min_Depth = 20.43; MB_Bottom_Detect_Filter_Max_Depth = 35.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.335465 meters # Minimum depth: 457.580948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 432.580948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793828; longitude = -122.191974; captureRadius = 10; duration = 42; initialDepth = 432.580948; finalDepth = 433.923642; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.089686 # Altitude Set: 28.089686 # Vehicle Depth:432.580948 # Seafloor Depth:-460.670634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 67.42; MB_Bottom_Detect_Filter_Min_Depth = 21.07; MB_Bottom_Detect_Filter_Max_Depth = 36.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.335384 meters # Minimum depth: 455.855405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 430.855405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794226; longitude = -122.191638; captureRadius = 10; duration = 42; initialDepth = 430.855405; finalDepth = 432.580948; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.089686 # Altitude Set: 28.089686 # Vehicle Depth:430.855405 # Seafloor Depth:-456.441521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 67.42; MB_Bottom_Detect_Filter_Min_Depth = 21.07; MB_Bottom_Detect_Filter_Max_Depth = 36.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.335301 meters # Minimum depth: 454.066171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 429.066171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794623; longitude = -122.191302; captureRadius = 10; duration = 42; initialDepth = 429.066171; finalDepth = 430.855405; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.95128 # Altitude Set: 26.95128 # Vehicle Depth:429.066171 # Seafloor Depth:-456.017451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 64.68; MB_Bottom_Detect_Filter_Min_Depth = 20.21; MB_Bottom_Detect_Filter_Max_Depth = 35.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.335220 meters # Minimum depth: 452.755235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 427.755235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795021; longitude = -122.190966; captureRadius = 10; duration = 42; initialDepth = 427.755235; finalDepth = 429.066171; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.95128 # Altitude Set: 26.95128 # Vehicle Depth:427.755235 # Seafloor Depth:-454.273011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 64.68; MB_Bottom_Detect_Filter_Min_Depth = 20.21; MB_Bottom_Detect_Filter_Max_Depth = 35.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.858519 meters # Minimum depth: 451.209775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 426.209775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795419; longitude = -122.190630; captureRadius = 10; duration = 44; initialDepth = 426.209775; finalDepth = 427.755235; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.605281 # Altitude Set: 26.605281 # Vehicle Depth:426.209775 # Seafloor Depth:-452.815056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 63.85; MB_Bottom_Detect_Filter_Min_Depth = 19.95; MB_Bottom_Detect_Filter_Max_Depth = 34.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.811675 meters # Minimum depth: 451.190354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 426.190354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795835; longitude = -122.190278; captureRadius = 10; duration = 40; initialDepth = 426.190354; finalDepth = 426.209775; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.605281 # Altitude Set: 26.605281 # Vehicle Depth:426.190354 # Seafloor Depth:-451.190354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 63.85; MB_Bottom_Detect_Filter_Min_Depth = 19.95; MB_Bottom_Detect_Filter_Max_Depth = 34.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.367264 meters # Minimum depth: 450.624491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 425.624491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796214; longitude = -122.189958; captureRadius = 10; duration = 43; initialDepth = 425.624491; finalDepth = 426.190354; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.909003 # Altitude Set: 26.909003 # Vehicle Depth:425.624491 # Seafloor Depth:-452.533494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.58; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.302603 meters # Minimum depth: 449.065081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 424.065081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796619; longitude = -122.189616; captureRadius = 10; duration = 41; initialDepth = 424.065081; finalDepth = 425.624491; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.909003 # Altitude Set: 26.909003 # Vehicle Depth:424.065081 # Seafloor Depth:-450.506397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.58; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.334810 meters # Minimum depth: 442.450943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 417.450943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797009; longitude = -122.189286; captureRadius = 10; duration = 42; initialDepth = 417.450943; finalDepth = 424.065081; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.721745 # Altitude Set: 31.721745 # Vehicle Depth:417.450943 # Seafloor Depth:-449.172688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 76.13; MB_Bottom_Detect_Filter_Min_Depth = 23.79; MB_Bottom_Detect_Filter_Max_Depth = 41.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.334729 meters # Minimum depth: 442.438819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 417.438819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797407; longitude = -122.188950; captureRadius = 10; duration = 42; initialDepth = 417.438819; finalDepth = 417.450943; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.721745 # Altitude Set: 31.721745 # Vehicle Depth:417.438819 # Seafloor Depth:-442.438819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 76.13; MB_Bottom_Detect_Filter_Min_Depth = 23.79; MB_Bottom_Detect_Filter_Max_Depth = 41.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.334647 meters # Minimum depth: 440.848845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 415.848845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797804; longitude = -122.188614; captureRadius = 10; duration = 42; initialDepth = 415.848845; finalDepth = 417.438819; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.529479 # Altitude Set: 29.529479 # Vehicle Depth:415.848845 # Seafloor Depth:-445.378324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 70.87; MB_Bottom_Detect_Filter_Min_Depth = 22.15; MB_Bottom_Detect_Filter_Max_Depth = 38.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.334565 meters # Minimum depth: 440.282485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 415.282485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798202; longitude = -122.188278; captureRadius = 10; duration = 42; initialDepth = 415.282485; finalDepth = 415.848845; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.529479 # Altitude Set: 29.529479 # Vehicle Depth:415.282485 # Seafloor Depth:-440.877732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 70.87; MB_Bottom_Detect_Filter_Min_Depth = 22.15; MB_Bottom_Detect_Filter_Max_Depth = 38.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.334483 meters # Minimum depth: 438.135380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 413.135380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798600; longitude = -122.187942; captureRadius = 10; duration = 42; initialDepth = 413.135380; finalDepth = 415.282485; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.165641 # Altitude Set: 27.165641 # Vehicle Depth:413.13538 # Seafloor Depth:-440.301021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 65.20; MB_Bottom_Detect_Filter_Min_Depth = 20.37; MB_Bottom_Detect_Filter_Max_Depth = 35.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.660630 meters # Minimum depth: 436.778531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 411.778531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798997; longitude = -122.187606; captureRadius = 10; duration = 45; initialDepth = 411.778531; finalDepth = 413.135380; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.165641 # Altitude Set: 27.165641 # Vehicle Depth:411.778531 # Seafloor Depth:-438.199586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 65.20; MB_Bottom_Detect_Filter_Min_Depth = 20.37; MB_Bottom_Detect_Filter_Max_Depth = 35.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 60.101458 meters # Minimum depth: 436.778531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 411.778531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799420; longitude = -122.187249; captureRadius = 10; duration = 48; initialDepth = 411.778531; finalDepth = 411.778531; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.064417 # Altitude Set: 27.064417 # Vehicle Depth:411.778531 # Seafloor Depth:-438.842948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 64.95; MB_Bottom_Detect_Filter_Min_Depth = 20.30; MB_Bottom_Detect_Filter_Max_Depth = 35.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.092912 meters # Minimum depth: 434.684174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 409.684174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799868; longitude = -122.186870; captureRadius = 10; duration = 44; initialDepth = 409.684174; finalDepth = 411.778531; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.477952 # Altitude Set: 28.477952 # Vehicle Depth:409.684174 # Seafloor Depth:-438.162126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 68.35; MB_Bottom_Detect_Filter_Min_Depth = 21.36; MB_Bottom_Detect_Filter_Max_Depth = 37.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 6 # Segment length 23.743009 meters # Minimum depth: 433.176478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 408.176478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800278; longitude = -122.186523; captureRadius = 10; duration = 18; initialDepth = 408.176478; finalDepth = 409.684174; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.331389 meters # Minimum depth: 430.596364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 405.596364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800456; longitude = -122.186374; captureRadius = 10; duration = 45; initialDepth = 405.596364; finalDepth = 408.176478; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.532328 # Altitude Set: 27.532328 # Vehicle Depth:405.596364 # Seafloor Depth:-433.128692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 66.08; MB_Bottom_Detect_Filter_Min_Depth = 20.65; MB_Bottom_Detect_Filter_Max_Depth = 35.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.511953 meters # Minimum depth: 430.596364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 405.596364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800876; longitude = -122.186019; captureRadius = 10; duration = 40; initialDepth = 405.596364; finalDepth = 405.596364; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.532328 # Altitude Set: 27.532328 # Vehicle Depth:405.596364 # Seafloor Depth:-430.837832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 66.08; MB_Bottom_Detect_Filter_Min_Depth = 20.65; MB_Bottom_Detect_Filter_Max_Depth = 35.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.585415 meters # Minimum depth: 431.100740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 406.100740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801253; longitude = -122.185702; captureRadius = 10; duration = 43; initialDepth = 406.100740; finalDepth = 405.596364; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.368005 # Altitude Set: 26.368005 # Vehicle Depth:406.10074 # Seafloor Depth:-432.468745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 63.28; MB_Bottom_Detect_Filter_Min_Depth = 19.78; MB_Bottom_Detect_Filter_Max_Depth = 34.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.257599 meters # Minimum depth: 430.791280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 405.791280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801660; longitude = -122.185358; captureRadius = 10; duration = 41; initialDepth = 405.791280; finalDepth = 406.100740; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.368005 # Altitude Set: 26.368005 # Vehicle Depth:405.79128 # Seafloor Depth:-431.129152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 63.28; MB_Bottom_Detect_Filter_Min_Depth = 19.78; MB_Bottom_Detect_Filter_Max_Depth = 34.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.421385 meters # Minimum depth: 429.424709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 404.424709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802050; longitude = -122.185029; captureRadius = 10; duration = 42; initialDepth = 404.424709; finalDepth = 405.791280; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.223135 # Altitude Set: 27.223135 # Vehicle Depth:404.424709 # Seafloor Depth:-431.647844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 65.34; MB_Bottom_Detect_Filter_Min_Depth = 20.42; MB_Bottom_Detect_Filter_Max_Depth = 35.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.421302 meters # Minimum depth: 428.944921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 403.944921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802448; longitude = -122.184693; captureRadius = 10; duration = 42; initialDepth = 403.944921; finalDepth = 404.424709; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.223135 # Altitude Set: 27.223135 # Vehicle Depth:403.944921 # Seafloor Depth:-429.409566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 65.34; MB_Bottom_Detect_Filter_Min_Depth = 20.42; MB_Bottom_Detect_Filter_Max_Depth = 35.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.421221 meters # Minimum depth: 426.801368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 401.801368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802847; longitude = -122.184357; captureRadius = 10; duration = 42; initialDepth = 401.801368; finalDepth = 403.944921; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.228855 # Altitude Set: 26.228855 # Vehicle Depth:401.801368 # Seafloor Depth:-428.030223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 62.95; MB_Bottom_Detect_Filter_Min_Depth = 19.67; MB_Bottom_Detect_Filter_Max_Depth = 34.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.421138 meters # Minimum depth: 425.936781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 400.936781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803246; longitude = -122.184021; captureRadius = 10; duration = 42; initialDepth = 400.936781; finalDepth = 401.801368; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.562384 # Altitude Set: 27.562384 # Vehicle Depth:400.936781 # Seafloor Depth:-428.499165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.15; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.421057 meters # Minimum depth: 425.936781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 400.936781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803644; longitude = -122.183685; captureRadius = 10; duration = 42; initialDepth = 400.936781; finalDepth = 400.936781; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.562384 # Altitude Set: 27.562384 # Vehicle Depth:400.936781 # Seafloor Depth:-427.246694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 66.15; MB_Bottom_Detect_Filter_Min_Depth = 20.67; MB_Bottom_Detect_Filter_Max_Depth = 35.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 55.981455 meters # Minimum depth: 427.300633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 402.300633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804043; longitude = -122.183349; captureRadius = 10; duration = 44; initialDepth = 402.300633; finalDepth = 400.936781; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.854978 # Altitude Set: 26.854978 # Vehicle Depth:402.300633 # Seafloor Depth:-429.155611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 64.45; MB_Bottom_Detect_Filter_Min_Depth = 20.14; MB_Bottom_Detect_Filter_Max_Depth = 34.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.860413 meters # Minimum depth: 426.026024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 401.026024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804460; longitude = -122.182997; captureRadius = 10; duration = 40; initialDepth = 401.026024; finalDepth = 402.300633; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.854978 # Altitude Set: 26.854978 # Vehicle Depth:401.026024 # Seafloor Depth:-427.770509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 64.45; MB_Bottom_Detect_Filter_Min_Depth = 20.14; MB_Bottom_Detect_Filter_Max_Depth = 34.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.235507 meters # Minimum depth: 425.056957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 400.056957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804840; longitude = -122.182677; captureRadius = 10; duration = 43; initialDepth = 400.056957; finalDepth = 401.026024; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.744485 # Altitude Set: 26.744485 # Vehicle Depth:400.056957 # Seafloor Depth:-425.940055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 64.19; MB_Bottom_Detect_Filter_Min_Depth = 20.06; MB_Bottom_Detect_Filter_Max_Depth = 34.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.606033 meters # Minimum depth: 424.044972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 399.044972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805245; longitude = -122.182336; captureRadius = 10; duration = 42; initialDepth = 399.044972; finalDepth = 400.056957; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.649569 # Altitude Set: 26.649569 # Vehicle Depth:399.044972 # Seafloor Depth:-425.694541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.99; MB_Bottom_Detect_Filter_Max_Range = 63.96; MB_Bottom_Detect_Filter_Min_Depth = 19.99; MB_Bottom_Detect_Filter_Max_Depth = 34.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.420647 meters # Minimum depth: 420.832189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 395.832189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805637; longitude = -122.182005; captureRadius = 10; duration = 42; initialDepth = 395.832189; finalDepth = 399.044972; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.114898 # Altitude Set: 28.114898 # Vehicle Depth:395.832189 # Seafloor Depth:-423.947087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 67.48; MB_Bottom_Detect_Filter_Min_Depth = 21.09; MB_Bottom_Detect_Filter_Max_Depth = 36.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.420566 meters # Minimum depth: 418.557690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 393.557690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806036; longitude = -122.181669; captureRadius = 10; duration = 42; initialDepth = 393.557690; finalDepth = 395.832189; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.114898 # Altitude Set: 28.114898 # Vehicle Depth:393.55769 # Seafloor Depth:-420.778644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 67.48; MB_Bottom_Detect_Filter_Min_Depth = 21.09; MB_Bottom_Detect_Filter_Max_Depth = 36.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.420483 meters # Minimum depth: 416.079251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 391.079251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806434; longitude = -122.181333; captureRadius = 10; duration = 42; initialDepth = 391.079251; finalDepth = 393.557690; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.363434 # Altitude Set: 27.363434 # Vehicle Depth:391.079251 # Seafloor Depth:-418.442685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 65.67; MB_Bottom_Detect_Filter_Min_Depth = 20.52; MB_Bottom_Detect_Filter_Max_Depth = 35.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.420402 meters # Minimum depth: 414.275993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 389.275993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806833; longitude = -122.180997; captureRadius = 10; duration = 42; initialDepth = 389.275993; finalDepth = 391.079251; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.363434 # Altitude Set: 27.363434 # Vehicle Depth:389.275993 # Seafloor Depth:-416.090003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 65.67; MB_Bottom_Detect_Filter_Min_Depth = 20.52; MB_Bottom_Detect_Filter_Max_Depth = 35.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.420320 meters # Minimum depth: 409.224426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 384.224426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807231; longitude = -122.180661; captureRadius = 10; duration = 42; initialDepth = 384.224426; finalDepth = 389.275993; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.709952 # Altitude Set: 28.709952 # Vehicle Depth:384.224426 # Seafloor Depth:-412.934378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 68.90; MB_Bottom_Detect_Filter_Min_Depth = 21.53; MB_Bottom_Detect_Filter_Max_Depth = 37.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 55.631531 meters # Minimum depth: 403.549326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 378.549326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807630; longitude = -122.180325; captureRadius = 10; duration = 44; initialDepth = 378.549326; finalDepth = 384.224426; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.893089 # Altitude Set: 29.893089 # Vehicle Depth:378.549326 # Seafloor Depth:-408.442415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 71.74; MB_Bottom_Detect_Filter_Min_Depth = 22.42; MB_Bottom_Detect_Filter_Max_Depth = 38.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.208862 meters # Minimum depth: 400.043898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 375.043898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808045; longitude = -122.179975; captureRadius = 10; duration = 40; initialDepth = 375.043898; finalDepth = 378.549326; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.93501 # Altitude Set: 30.93501 # Vehicle Depth:375.043898 # Seafloor Depth:-405.978908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 74.24; MB_Bottom_Detect_Filter_Min_Depth = 23.20; MB_Bottom_Detect_Filter_Max_Depth = 40.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.885609 meters # Minimum depth: 396.765530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 371.765530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808427; longitude = -122.179653; captureRadius = 10; duration = 43; initialDepth = 371.765530; finalDepth = 375.043898; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.93501 # Altitude Set: 30.93501 # Vehicle Depth:371.76553 # Seafloor Depth:-399.836984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 74.24; MB_Bottom_Detect_Filter_Min_Depth = 23.20; MB_Bottom_Detect_Filter_Max_Depth = 40.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.954458 meters # Minimum depth: 392.156440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 367.156440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808829; longitude = -122.179314; captureRadius = 10; duration = 42; initialDepth = 367.156440; finalDepth = 371.765530; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.501395 # Altitude Set: 30.501395 # Vehicle Depth:367.15644 # Seafloor Depth:-397.657835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 73.20; MB_Bottom_Detect_Filter_Min_Depth = 22.88; MB_Bottom_Detect_Filter_Max_Depth = 39.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.419910 meters # Minimum depth: 391.170617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 366.170617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809224; longitude = -122.178981; captureRadius = 10; duration = 42; initialDepth = 366.170617; finalDepth = 367.156440; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.501395 # Altitude Set: 30.501395 # Vehicle Depth:366.170617 # Seafloor Depth:-393.034890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 73.20; MB_Bottom_Detect_Filter_Min_Depth = 22.88; MB_Bottom_Detect_Filter_Max_Depth = 39.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.419828 meters # Minimum depth: 388.410714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 363.410714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809623; longitude = -122.178644; captureRadius = 10; duration = 42; initialDepth = 363.410714; finalDepth = 366.170617; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.71765 # Altitude Set: 27.71765 # Vehicle Depth:363.410714 # Seafloor Depth:-391.128364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 66.52; MB_Bottom_Detect_Filter_Min_Depth = 20.79; MB_Bottom_Detect_Filter_Max_Depth = 36.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.419747 meters # Minimum depth: 385.630086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 360.630086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810021; longitude = -122.178308; captureRadius = 10; duration = 42; initialDepth = 360.630086; finalDepth = 363.410714; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.925992 # Altitude Set: 27.925992 # Vehicle Depth:360.630086 # Seafloor Depth:-388.556078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 67.02; MB_Bottom_Detect_Filter_Min_Depth = 20.94; MB_Bottom_Detect_Filter_Max_Depth = 36.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.027526 meters # Minimum depth: 381.698415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 356.698415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810420; longitude = -122.177972; captureRadius = 10; duration = 45; initialDepth = 356.698415; finalDepth = 360.630086; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.433735 # Altitude Set: 29.433735 # Vehicle Depth:356.698415 # Seafloor Depth:-386.132150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 70.64; MB_Bottom_Detect_Filter_Min_Depth = 22.08; MB_Bottom_Detect_Filter_Max_Depth = 38.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 60.053375 meters # Minimum depth: 379.046633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 354.046633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810845; longitude = -122.177614; captureRadius = 10; duration = 48; initialDepth = 354.046633; finalDepth = 356.698415; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.433735 # Altitude Set: 29.433735 # Vehicle Depth:354.046633 # Seafloor Depth:-381.531617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 70.64; MB_Bottom_Detect_Filter_Min_Depth = 22.08; MB_Bottom_Detect_Filter_Max_Depth = 38.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 55.048837 meters # Minimum depth: 379.046633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 354.046633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811293; longitude = -122.177236; captureRadius = 10; duration = 44; initialDepth = 354.046633; finalDepth = 354.046633; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.484984 # Altitude Set: 27.484984 # Vehicle Depth:354.046633 # Seafloor Depth:-379.703316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.96; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 5 # Segment length 40.163404 meters # Minimum depth: 377.712406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 352.712406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811704; longitude = -122.176890; captureRadius = 10; duration = 32; initialDepth = 352.712406; finalDepth = 354.046633; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.638571 meters # Minimum depth: 374.723447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 349.723447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811966; longitude = -122.176578; captureRadius = 10; duration = 41; initialDepth = 349.723447; finalDepth = 352.712406; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.475569 # Altitude Set: 27.475569 # Vehicle Depth:349.723447 # Seafloor Depth:-377.199016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.94; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.638468 meters # Minimum depth: 373.891559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 348.891559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812302; longitude = -122.176177; captureRadius = 10; duration = 41; initialDepth = 348.891559; finalDepth = 349.723447; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.475569 # Altitude Set: 27.475569 # Vehicle Depth:348.891559 # Seafloor Depth:-376.011078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.94; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.638365 meters # Minimum depth: 371.277579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 346.277579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812638; longitude = -122.175777; captureRadius = 10; duration = 41; initialDepth = 346.277579; finalDepth = 348.891559; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.119519 # Altitude Set: 27.119519 # Vehicle Depth:346.277579 # Seafloor Depth:-373.183105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 65.09; MB_Bottom_Detect_Filter_Min_Depth = 20.34; MB_Bottom_Detect_Filter_Max_Depth = 35.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.638262 meters # Minimum depth: 370.730571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 345.730571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812974; longitude = -122.175376; captureRadius = 10; duration = 41; initialDepth = 345.730571; finalDepth = 346.277579; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.905526 # Altitude Set: 26.905526 # Vehicle Depth:345.730571 # Seafloor Depth:-371.252556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.57; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.638158 meters # Minimum depth: 370.179308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 345.179308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813310; longitude = -122.174976; captureRadius = 10; duration = 41; initialDepth = 345.179308; finalDepth = 345.730571; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.635904 # Altitude Set: 25.635904 # Vehicle Depth:345.179308 # Seafloor Depth:-370.815212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.23; MB_Bottom_Detect_Filter_Max_Range = 61.53; MB_Bottom_Detect_Filter_Min_Depth = 19.23; MB_Bottom_Detect_Filter_Max_Depth = 33.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.024310 meters # Minimum depth: 368.087988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 343.087988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813646; longitude = -122.174575; captureRadius = 10; duration = 42; initialDepth = 343.087988; finalDepth = 345.179308; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.824231 # Altitude Set: 26.824231 # Vehicle Depth:343.087988 # Seafloor Depth:-369.912219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 64.38; MB_Bottom_Detect_Filter_Min_Depth = 20.12; MB_Bottom_Detect_Filter_Max_Depth = 34.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.251697 meters # Minimum depth: 366.760817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 341.760817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813991; longitude = -122.174164; captureRadius = 10; duration = 40; initialDepth = 341.760817; finalDepth = 343.087988; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.824231 # Altitude Set: 26.824231 # Vehicle Depth:341.760817 # Seafloor Depth:-368.011515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 64.38; MB_Bottom_Detect_Filter_Min_Depth = 20.12; MB_Bottom_Detect_Filter_Max_Depth = 34.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.637848 meters # Minimum depth: 365.117303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 340.117303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814318; longitude = -122.173774; captureRadius = 10; duration = 41; initialDepth = 340.117303; finalDepth = 341.760817; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.922027 # Altitude Set: 26.922027 # Vehicle Depth:340.117303 # Seafloor Depth:-367.039330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.61; MB_Rate = 2; 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 5 # Segment length 51.637746 meters # Minimum depth: 363.827436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 338.827436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814654; longitude = -122.173373; captureRadius = 10; duration = 41; initialDepth = 338.827436; finalDepth = 340.117303; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.922027 # Altitude Set: 26.922027 # Vehicle Depth:338.827436 # Seafloor Depth:-365.500383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.61; MB_Rate = 2; 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 5 # Segment length 51.637642 meters # Minimum depth: 362.616273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 337.616273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814990; longitude = -122.172973; captureRadius = 10; duration = 41; initialDepth = 337.616273; finalDepth = 338.827436; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.432953 # Altitude Set: 27.432953 # Vehicle Depth:337.616273 # Seafloor Depth:-365.049226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 65.84; MB_Bottom_Detect_Filter_Min_Depth = 20.57; MB_Bottom_Detect_Filter_Max_Depth = 35.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.637539 meters # Minimum depth: 361.434219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 336.434219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815326; longitude = -122.172572; captureRadius = 10; duration = 41; initialDepth = 336.434219; finalDepth = 337.616273; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.432953 # Altitude Set: 27.432953 # Vehicle Depth:336.434219 # Seafloor Depth:-362.738027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 65.84; MB_Bottom_Detect_Filter_Min_Depth = 20.57; MB_Bottom_Detect_Filter_Max_Depth = 35.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.637436 meters # Minimum depth: 361.403277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 336.403277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815662; longitude = -122.172172; captureRadius = 10; duration = 41; initialDepth = 336.403277; finalDepth = 336.434219; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.303808 # Altitude Set: 26.303808 # Vehicle Depth:336.403277 # Seafloor Depth:-361.417526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.73; MB_Bottom_Detect_Filter_Max_Range = 63.13; MB_Bottom_Detect_Filter_Min_Depth = 19.73; MB_Bottom_Detect_Filter_Max_Depth = 34.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 57.374807 meters # Minimum depth: 360.459481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 335.459481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815998; longitude = -122.171771; captureRadius = 10; duration = 45; initialDepth = 335.459481; finalDepth = 336.403277; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.086417 # Altitude Set: 26.086417 # Vehicle Depth:335.459481 # Seafloor Depth:-361.545898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.56; MB_Bottom_Detect_Filter_Max_Range = 62.61; MB_Bottom_Detect_Filter_Min_Depth = 19.56; MB_Bottom_Detect_Filter_Max_Depth = 33.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 4 # Segment length 34.059408 meters # Minimum depth: 360.336974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 335.336974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816371; longitude = -122.171326; captureRadius = 10; duration = 27; initialDepth = 335.336974; finalDepth = 335.459481; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089103 meters # Minimum depth: 360.070701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 335.070701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816670; longitude = -122.171238; captureRadius = 10; duration = 40; initialDepth = 335.070701; finalDepth = 335.336974; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.976014 # Altitude Set: 25.976014 # Vehicle Depth:335.070701 # Seafloor Depth:-360.070701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.34; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089092 meters # Minimum depth: 358.191414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 333.191414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817118; longitude = -122.171106; captureRadius = 10; duration = 40; initialDepth = 333.191414; finalDepth = 335.070701; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.810392 # Altitude Set: 26.810392 # Vehicle Depth:333.191414 # Seafloor Depth:-360.001806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 64.34; MB_Bottom_Detect_Filter_Min_Depth = 20.11; MB_Bottom_Detect_Filter_Max_Depth = 34.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089080 meters # Minimum depth: 356.656687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 331.656687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817566; longitude = -122.170973; captureRadius = 10; duration = 40; initialDepth = 331.656687; finalDepth = 333.191414; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.810392 # Altitude Set: 26.810392 # Vehicle Depth:331.656687 # Seafloor Depth:-358.007302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 64.34; MB_Bottom_Detect_Filter_Min_Depth = 20.11; MB_Bottom_Detect_Filter_Max_Depth = 34.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089069 meters # Minimum depth: 354.406739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 329.406739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818014; longitude = -122.170841; captureRadius = 10; duration = 40; initialDepth = 329.406739; finalDepth = 331.656687; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.962244 # Altitude Set: 26.962244 # Vehicle Depth:329.406739 # Seafloor Depth:-356.368983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 64.71; MB_Bottom_Detect_Filter_Min_Depth = 20.22; MB_Bottom_Detect_Filter_Max_Depth = 35.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089058 meters # Minimum depth: 350.864524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 325.864524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818462; longitude = -122.170709; captureRadius = 10; duration = 40; initialDepth = 325.864524; finalDepth = 329.406739; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.548715 # Altitude Set: 28.548715 # Vehicle Depth:325.864524 # Seafloor Depth:-354.413239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 68.52; MB_Bottom_Detect_Filter_Min_Depth = 21.41; MB_Bottom_Detect_Filter_Max_Depth = 37.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089047 meters # Minimum depth: 348.736577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 323.736577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818911; longitude = -122.170576; captureRadius = 10; duration = 40; initialDepth = 323.736577; finalDepth = 325.864524; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.548715 # Altitude Set: 28.548715 # Vehicle Depth:323.736577 # Seafloor Depth:-350.714524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 68.52; MB_Bottom_Detect_Filter_Min_Depth = 21.41; MB_Bottom_Detect_Filter_Max_Depth = 37.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089036 meters # Minimum depth: 346.304900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 321.304900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819359; longitude = -122.170444; captureRadius = 10; duration = 40; initialDepth = 321.304900; finalDepth = 323.736577; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.977947 # Altitude Set: 26.977947 # Vehicle Depth:321.3049 # Seafloor Depth:-347.379403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 64.75; MB_Bottom_Detect_Filter_Min_Depth = 20.23; MB_Bottom_Detect_Filter_Max_Depth = 35.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089024 meters # Minimum depth: 343.796437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 318.796437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819807; longitude = -122.170312; captureRadius = 10; duration = 40; initialDepth = 318.796437; finalDepth = 321.304900; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.996557 # Altitude Set: 26.996557 # Vehicle Depth:318.796437 # Seafloor Depth:-345.792994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 64.79; MB_Bottom_Detect_Filter_Min_Depth = 20.25; MB_Bottom_Detect_Filter_Max_Depth = 35.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089013 meters # Minimum depth: 342.539541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 317.539541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820255; longitude = -122.170179; captureRadius = 10; duration = 40; initialDepth = 317.539541; finalDepth = 318.796437; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.996557 # Altitude Set: 26.996557 # Vehicle Depth:317.539541 # Seafloor Depth:-343.424343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 64.79; MB_Bottom_Detect_Filter_Min_Depth = 20.25; MB_Bottom_Detect_Filter_Max_Depth = 35.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.089002 meters # Minimum depth: 340.303618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 315.303618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820703; longitude = -122.170047; captureRadius = 10; duration = 40; initialDepth = 315.303618; finalDepth = 317.539541; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.58805 # Altitude Set: 26.58805 # Vehicle Depth:315.303618 # Seafloor Depth:-341.891668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 63.81; MB_Bottom_Detect_Filter_Min_Depth = 19.94; MB_Bottom_Detect_Filter_Max_Depth = 34.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088991 meters # Minimum depth: 337.118719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 312.118719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821151; longitude = -122.169915; captureRadius = 10; duration = 40; initialDepth = 312.118719; finalDepth = 315.303618; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.910798 # Altitude Set: 26.910798 # Vehicle Depth:312.118719 # Seafloor Depth:-339.029517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.59; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088980 meters # Minimum depth: 332.067810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 307.067810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821599; longitude = -122.169782; captureRadius = 10; duration = 40; initialDepth = 307.067810; finalDepth = 312.118719; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.830412 # Altitude Set: 29.830412 # Vehicle Depth:307.06781 # Seafloor Depth:-336.898222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 71.59; MB_Bottom_Detect_Filter_Min_Depth = 22.37; MB_Bottom_Detect_Filter_Max_Depth = 38.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088968 meters # Minimum depth: 330.403235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 305.403235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822047; longitude = -122.169650; captureRadius = 10; duration = 40; initialDepth = 305.403235; finalDepth = 307.067810; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.830412 # Altitude Set: 29.830412 # Vehicle Depth:305.403235 # Seafloor Depth:-333.435300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 71.59; MB_Bottom_Detect_Filter_Min_Depth = 22.37; MB_Bottom_Detect_Filter_Max_Depth = 38.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088958 meters # Minimum depth: 329.332286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 304.332286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822495; longitude = -122.169518; captureRadius = 10; duration = 40; initialDepth = 304.332286; finalDepth = 305.403235; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.032065 # Altitude Set: 28.032065 # Vehicle Depth:304.332286 # Seafloor Depth:-330.783142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 67.28; MB_Bottom_Detect_Filter_Min_Depth = 21.02; MB_Bottom_Detect_Filter_Max_Depth = 36.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088946 meters # Minimum depth: 327.808180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 302.808180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822943; longitude = -122.169385; captureRadius = 10; duration = 40; initialDepth = 302.808180; finalDepth = 304.332286; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.450856 # Altitude Set: 26.450856 # Vehicle Depth:302.80818 # Seafloor Depth:-328.533814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 63.48; MB_Bottom_Detect_Filter_Min_Depth = 19.84; MB_Bottom_Detect_Filter_Max_Depth = 34.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088935 meters # Minimum depth: 323.100700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 298.100700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823391; longitude = -122.169253; captureRadius = 10; duration = 40; initialDepth = 298.100700; finalDepth = 302.808180; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.333914 # Altitude Set: 28.333914 # Vehicle Depth:298.1007 # Seafloor Depth:-326.434614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 68.00; MB_Bottom_Detect_Filter_Min_Depth = 21.25; MB_Bottom_Detect_Filter_Max_Depth = 36.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088924 meters # Minimum depth: 323.100700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 298.100700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823839; longitude = -122.169121; captureRadius = 10; duration = 40; initialDepth = 298.100700; finalDepth = 298.100700; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.333914 # Altitude Set: 28.333914 # Vehicle Depth:298.1007 # Seafloor Depth:-323.482693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 68.00; MB_Bottom_Detect_Filter_Min_Depth = 21.25; MB_Bottom_Detect_Filter_Max_Depth = 36.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088912 meters # Minimum depth: 322.611581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 297.611581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824287; longitude = -122.168989; captureRadius = 10; duration = 40; initialDepth = 297.611581; finalDepth = 298.100700; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.907357 # Altitude Set: 25.907357 # Vehicle Depth:297.611581 # Seafloor Depth:-323.518938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.43; MB_Bottom_Detect_Filter_Max_Range = 62.18; MB_Bottom_Detect_Filter_Min_Depth = 19.43; MB_Bottom_Detect_Filter_Max_Depth = 33.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088902 meters # Minimum depth: 319.756498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 294.756498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824735; longitude = -122.168856; captureRadius = 10; duration = 40; initialDepth = 294.756498; finalDepth = 297.611581; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.080792 # Altitude Set: 27.080792 # Vehicle Depth:294.756498 # Seafloor Depth:-321.837290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 64.99; MB_Bottom_Detect_Filter_Min_Depth = 20.31; MB_Bottom_Detect_Filter_Max_Depth = 35.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088890 meters # Minimum depth: 316.535288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 291.535288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825183; longitude = -122.168724; captureRadius = 10; duration = 40; initialDepth = 291.535288; finalDepth = 294.756498; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.894797 # Altitude Set: 27.894797 # Vehicle Depth:291.535288 # Seafloor Depth:-319.430085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 66.95; MB_Bottom_Detect_Filter_Min_Depth = 20.92; MB_Bottom_Detect_Filter_Max_Depth = 36.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088879 meters # Minimum depth: 315.452508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 290.452508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825632; longitude = -122.168592; captureRadius = 10; duration = 40; initialDepth = 290.452508; finalDepth = 291.535288; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.894797 # Altitude Set: 27.894797 # Vehicle Depth:290.452508 # Seafloor Depth:-316.046473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 66.95; MB_Bottom_Detect_Filter_Min_Depth = 20.92; MB_Bottom_Detect_Filter_Max_Depth = 36.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088868 meters # Minimum depth: 312.952343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 287.952343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826080; longitude = -122.168459; captureRadius = 10; duration = 40; initialDepth = 287.952343; finalDepth = 290.452508; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.902606 # Altitude Set: 26.902606 # Vehicle Depth:287.952343 # Seafloor Depth:-314.854949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.57; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.088857 meters # Minimum depth: 311.128564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 286.128564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826528; longitude = -122.168327; captureRadius = 10; duration = 40; initialDepth = 286.128564; finalDepth = 287.952343; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.902606 # Altitude Set: 26.902606 # Vehicle Depth:286.128564 # Seafloor Depth:-312.632937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 64.57; MB_Bottom_Detect_Filter_Min_Depth = 20.18; MB_Bottom_Detect_Filter_Max_Depth = 34.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.603652 meters # Minimum depth: 308.571363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 283.571363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826976; longitude = -122.168195; captureRadius = 10; duration = 47; initialDepth = 283.571363; finalDepth = 286.128564; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.799741 # Altitude Set: 27.799741 # Vehicle Depth:283.571363 # Seafloor Depth:-311.371104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 66.72; MB_Bottom_Detect_Filter_Min_Depth = 20.85; MB_Bottom_Detect_Filter_Max_Depth = 36.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 3 # Segment length 5.424876 meters # Minimum depth: 308.340617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 283.340617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827498; longitude = -122.168040; captureRadius = 10; duration = 4; initialDepth = 283.340617; finalDepth = 283.571363; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.615803 meters # Minimum depth: 308.340617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 283.340617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827536; longitude = -122.168001; captureRadius = 10; duration = 49; initialDepth = 283.340617; finalDepth = 283.340617; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.340565 # Altitude Set: 25.340565 # Vehicle Depth:283.340617 # Seafloor Depth:-308.681182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.01; MB_Bottom_Detect_Filter_Max_Range = 60.82; MB_Bottom_Detect_Filter_Min_Depth = 19.01; MB_Bottom_Detect_Filter_Max_Depth = 32.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.306353 meters # Minimum depth: 308.751428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 283.751428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827960; longitude = -122.167555; captureRadius = 10; duration = 41; initialDepth = 283.751428; finalDepth = 283.340617; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.475804 # Altitude Set: 27.475804 # Vehicle Depth:283.751428 # Seafloor Depth:-311.227232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.94; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.989791 meters # Minimum depth: 312.754910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 287.754910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828320; longitude = -122.167176; captureRadius = 10; duration = 44; initialDepth = 287.754910; finalDepth = 283.751428; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.475804 # Altitude Set: 27.475804 # Vehicle Depth:287.75491 # Seafloor Depth:-314.510014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 65.94; MB_Bottom_Detect_Filter_Min_Depth = 20.61; MB_Bottom_Detect_Filter_Max_Depth = 35.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.931904 meters # Minimum depth: 315.602346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 290.602346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828705; longitude = -122.166771; captureRadius = 10; duration = 46; initialDepth = 290.602346; finalDepth = 287.754910; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.755104 # Altitude Set: 26.755104 # Vehicle Depth:290.602346 # Seafloor Depth:-317.318267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 64.21; MB_Bottom_Detect_Filter_Min_Depth = 20.07; MB_Bottom_Detect_Filter_Max_Depth = 34.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.363824 meters # Minimum depth: 317.246911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 292.246911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829104; longitude = -122.166351; captureRadius = 10; duration = 40; initialDepth = 292.246911; finalDepth = 290.602346; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.715921 # Altitude Set: 26.715921 # Vehicle Depth:292.246911 # Seafloor Depth:-318.845049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 64.12; MB_Bottom_Detect_Filter_Min_Depth = 20.04; MB_Bottom_Detect_Filter_Max_Depth = 34.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.883086 meters # Minimum depth: 318.845126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 293.845126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829451; longitude = -122.165987; captureRadius = 10; duration = 49; initialDepth = 293.845126; finalDepth = 292.246911; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.598138 # Altitude Set: 26.598138 # Vehicle Depth:293.845126 # Seafloor Depth:-319.974798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 63.84; MB_Bottom_Detect_Filter_Min_Depth = 19.95; MB_Bottom_Detect_Filter_Max_Depth = 34.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.497569 meters # Minimum depth: 313.682812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 288.682812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829877; longitude = -122.165539; captureRadius = 10; duration = 40; initialDepth = 288.682812; finalDepth = 293.845126; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.251045 # Altitude Set: 29.251045 # Vehicle Depth:288.682812 # Seafloor Depth:-317.933857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 70.20; MB_Bottom_Detect_Filter_Min_Depth = 21.94; MB_Bottom_Detect_Filter_Max_Depth = 38.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.797505 meters # Minimum depth: 307.575125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 282.575125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830224; longitude = -122.165173; captureRadius = 10; duration = 46; initialDepth = 282.575125; finalDepth = 288.682812; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.094859 # Altitude Set: 31.094859 # Vehicle Depth:282.575125 # Seafloor Depth:-313.669984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 74.63; MB_Bottom_Detect_Filter_Min_Depth = 23.32; MB_Bottom_Detect_Filter_Max_Depth = 40.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.123071 meters # Minimum depth: 301.686772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 276.686772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830622; longitude = -122.164754; captureRadius = 10; duration = 44; initialDepth = 276.686772; finalDepth = 282.575125; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.094859 # Altitude Set: 31.094859 # Vehicle Depth:276.686772 # Seafloor Depth:-306.812937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 74.63; MB_Bottom_Detect_Filter_Min_Depth = 23.32; MB_Bottom_Detect_Filter_Max_Depth = 40.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.171586 meters # Minimum depth: 293.684613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 268.684613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831008; longitude = -122.164348; captureRadius = 10; duration = 41; initialDepth = 268.684613; finalDepth = 276.686772; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.06839 # Altitude Set: 31.06839 # Vehicle Depth:268.684613 # Seafloor Depth:-299.753003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 74.56; MB_Bottom_Detect_Filter_Min_Depth = 23.30; MB_Bottom_Detect_Filter_Max_Depth = 40.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.882474 meters # Minimum depth: 284.724485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 259.724485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831367; longitude = -122.163970; captureRadius = 10; duration = 49; initialDepth = 259.724485; finalDepth = 268.684613; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.216885 # Altitude Set: 33.216885 # Vehicle Depth:259.724485 # Seafloor Depth:-292.941370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 79.72; MB_Bottom_Detect_Filter_Min_Depth = 24.91; MB_Bottom_Detect_Filter_Max_Depth = 43.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 64.963058 meters # Minimum depth: 278.879299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 253.879299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831793; longitude = -122.163522; captureRadius = 10; duration = 51; initialDepth = 253.879299; finalDepth = 259.724485; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.216885 # Altitude Set: 33.216885 # Vehicle Depth:253.879299 # Seafloor Depth:-284.714478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 79.72; MB_Bottom_Detect_Filter_Min_Depth = 24.91; MB_Bottom_Detect_Filter_Max_Depth = 43.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.801483 meters # Minimum depth: 273.930452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 248.930452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832241; longitude = -122.163052; captureRadius = 10; duration = 47; initialDepth = 248.930452; finalDepth = 253.879299; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.835179 # Altitude Set: 30.835179 # Vehicle Depth:248.930452 # Seafloor Depth:-278.628613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 74.00; MB_Bottom_Detect_Filter_Min_Depth = 23.13; MB_Bottom_Detect_Filter_Max_Depth = 40.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 55.117908 meters # Minimum depth: 266.194007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 241.194007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832645; longitude = -122.162626; captureRadius = 10; duration = 44; initialDepth = 241.194007; finalDepth = 248.930452; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.137388 # Altitude Set: 31.137388 # Vehicle Depth:241.194007 # Seafloor Depth:-272.331395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 74.73; MB_Bottom_Detect_Filter_Min_Depth = 23.35; MB_Bottom_Detect_Filter_Max_Depth = 40.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.175620 meters # Minimum depth: 256.836691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 231.836691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833025; longitude = -122.162227; captureRadius = 10; duration = 42; initialDepth = 231.836691; finalDepth = 241.194007; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.195804 # Altitude Set: 33.195804 # Vehicle Depth:231.836691 # Seafloor Depth:-265.032495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 79.67; MB_Bottom_Detect_Filter_Min_Depth = 24.90; MB_Bottom_Detect_Filter_Max_Depth = 43.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.881828 meters # Minimum depth: 246.755713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 221.755713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833391; longitude = -122.161842; captureRadius = 10; duration = 49; initialDepth = 221.755713; finalDepth = 231.836691; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.835724 # Altitude Set: 34.835724 # Vehicle Depth:221.755713 # Seafloor Depth:-256.591437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 83.61; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 45.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.881693 meters # Minimum depth: 237.655171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 212.655171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833817; longitude = -122.161394; captureRadius = 10; duration = 49; initialDepth = 212.655171; finalDepth = 221.755713; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.835724 # Altitude Set: 34.835724 # Vehicle Depth:212.655171 # Seafloor Depth:-246.479919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 83.61; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 45.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.898260 meters # Minimum depth: 223.290396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 198.290396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834243; longitude = -122.160946; captureRadius = 10; duration = 40; initialDepth = 198.290396; finalDepth = 212.655171; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.537619 # Altitude Set: 35.537619 # Vehicle Depth:198.290396 # Seafloor Depth:-233.828015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 85.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 85.29; MB_Bottom_Detect_Filter_Min_Depth = 26.65; MB_Bottom_Detect_Filter_Max_Depth = 46.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.394375 meters # Minimum depth: 214.308766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 189.308766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834593; longitude = -122.160577; captureRadius = 10; duration = 45; initialDepth = 189.308766; finalDepth = 198.290396; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.537619 # Altitude Set: 35.537619 # Vehicle Depth:189.308766 # Seafloor Depth:-222.105475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 85.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 85.29; MB_Bottom_Detect_Filter_Min_Depth = 26.65; MB_Bottom_Detect_Filter_Max_Depth = 46.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.523634 meters # Minimum depth: 203.698954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 178.698954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834988; longitude = -122.160162; captureRadius = 10; duration = 45; initialDepth = 178.698954; finalDepth = 189.308766; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.506926 # Altitude Set: 34.506926 # Vehicle Depth:178.698954 # Seafloor Depth:-213.205880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 82.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 82.82; MB_Bottom_Detect_Filter_Min_Depth = 25.88; MB_Bottom_Detect_Filter_Max_Depth = 44.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.768585 meters # Minimum depth: 192.376928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 167.376928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835377; longitude = -122.159752; captureRadius = 10; duration = 41; initialDepth = 167.376928; finalDepth = 178.698954; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.506926 # Altitude Set: 34.506926 # Vehicle Depth:167.376928 # Seafloor Depth:-201.876012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 82.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 82.82; MB_Bottom_Detect_Filter_Min_Depth = 25.88; MB_Bottom_Detect_Filter_Max_Depth = 44.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.724329 meters # Minimum depth: 181.878496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 156.878496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835733; longitude = -122.159378; captureRadius = 10; duration = 45; initialDepth = 156.878496; finalDepth = 167.376928; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.195389 # Altitude Set: 35.195389 # Vehicle Depth:156.878496 # Seafloor Depth:-192.073885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 84.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 84.47; MB_Bottom_Detect_Filter_Min_Depth = 26.40; MB_Bottom_Detect_Filter_Max_Depth = 45.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 2 # Segment length 35.370679 meters # Minimum depth: 177.751520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 152.751520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836124; longitude = -122.158967; captureRadius = 10; duration = 28; initialDepth = 152.751520; finalDepth = 156.878496; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055940 meters # Minimum depth: 168.144929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 143.144929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836231; longitude = -122.158594; captureRadius = 10; duration = 42; initialDepth = 143.144929; finalDepth = 152.751520; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.215547 # Altitude Set: 33.215547 # Vehicle Depth:143.144929 # Seafloor Depth:-176.360476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 79.72; MB_Bottom_Detect_Filter_Min_Depth = 24.91; MB_Bottom_Detect_Filter_Max_Depth = 43.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055846 meters # Minimum depth: 159.548763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 134.548763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836393; longitude = -122.158033; captureRadius = 10; duration = 42; initialDepth = 134.548763; finalDepth = 143.144929; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.232595 # Altitude Set: 33.232595 # Vehicle Depth:134.548763 # Seafloor Depth:-167.781358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 79.76; MB_Bottom_Detect_Filter_Min_Depth = 24.92; MB_Bottom_Detect_Filter_Max_Depth = 43.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.928306 meters # Minimum depth: 153.803022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 128.803022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836554; longitude = -122.157473; captureRadius = 10; duration = 43; initialDepth = 128.803022; finalDepth = 134.548763; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.232595 # Altitude Set: 33.232595 # Vehicle Depth:128.803022 # Seafloor Depth:-157.986817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 79.76; MB_Bottom_Detect_Filter_Min_Depth = 24.92; MB_Bottom_Detect_Filter_Max_Depth = 43.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.183105 meters # Minimum depth: 149.942353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 124.942353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836721; longitude = -122.156893; captureRadius = 10; duration = 40; initialDepth = 124.942353; finalDepth = 128.803022; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.183795 # Altitude Set: 29.183795 # Vehicle Depth:124.942353 # Seafloor Depth:-153.554571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.04; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 70.04; MB_Bottom_Detect_Filter_Min_Depth = 21.89; MB_Bottom_Detect_Filter_Max_Depth = 37.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055565 meters # Minimum depth: 146.883307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 121.883307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836877; longitude = -122.156353; captureRadius = 10; duration = 42; initialDepth = 121.883307; finalDepth = 124.942353; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.612218 # Altitude Set: 28.612218 # Vehicle Depth:121.883307 # Seafloor Depth:-149.183267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 68.67; MB_Bottom_Detect_Filter_Min_Depth = 21.46; MB_Bottom_Detect_Filter_Max_Depth = 37.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055471 meters # Minimum depth: 143.207788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 118.207788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837038; longitude = -122.155793; captureRadius = 10; duration = 42; initialDepth = 118.207788; finalDepth = 121.883307; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.849285 # Altitude Set: 27.849285 # Vehicle Depth:118.207788 # Seafloor Depth:-146.057073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 66.84; MB_Bottom_Detect_Filter_Min_Depth = 20.89; MB_Bottom_Detect_Filter_Max_Depth = 36.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055377 meters # Minimum depth: 140.419481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 115.419481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837200; longitude = -122.155233; captureRadius = 10; duration = 42; initialDepth = 115.419481; finalDepth = 118.207788; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.849285 # Altitude Set: 27.849285 # Vehicle Depth:115.419481 # Seafloor Depth:-142.787513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 66.84; MB_Bottom_Detect_Filter_Min_Depth = 20.89; MB_Bottom_Detect_Filter_Max_Depth = 36.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055284 meters # Minimum depth: 139.481661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 114.481661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837361; longitude = -122.154673; captureRadius = 10; duration = 42; initialDepth = 114.481661; finalDepth = 115.419481; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.368032 # Altitude Set: 27.368032 # Vehicle Depth:114.481661 # Seafloor Depth:-140.407401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 65.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 65.68; MB_Bottom_Detect_Filter_Min_Depth = 20.53; MB_Bottom_Detect_Filter_Max_Depth = 35.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055190 meters # Minimum depth: 136.268851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 111.268851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837522; longitude = -122.154113; captureRadius = 10; duration = 42; initialDepth = 111.268851; finalDepth = 114.481661; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.997336 # Altitude Set: 27.997336 # Vehicle Depth:111.268851 # Seafloor Depth:-139.266187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 67.19; MB_Bottom_Detect_Filter_Min_Depth = 21.00; MB_Bottom_Detect_Filter_Max_Depth = 36.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055097 meters # Minimum depth: 134.246163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 109.246163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837684; longitude = -122.153553; captureRadius = 10; duration = 42; initialDepth = 109.246163; finalDepth = 111.268851; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.997336 # Altitude Set: 27.997336 # Vehicle Depth:109.246163 # Seafloor Depth:-135.679667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 67.19; MB_Bottom_Detect_Filter_Min_Depth = 21.00; MB_Bottom_Detect_Filter_Max_Depth = 36.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.055003 meters # Minimum depth: 131.370805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 106.370805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837845; longitude = -122.152993; captureRadius = 10; duration = 42; initialDepth = 106.370805; finalDepth = 109.246163; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.807486 # Altitude Set: 27.807486 # Vehicle Depth:106.370805 # Seafloor Depth:-134.178291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 66.74; MB_Bottom_Detect_Filter_Min_Depth = 20.86; MB_Bottom_Detect_Filter_Max_Depth = 36.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.054909 meters # Minimum depth: 129.454726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 104.454726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838007; longitude = -122.152433; captureRadius = 10; duration = 42; initialDepth = 104.454726; finalDepth = 106.370805; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.807486 # Altitude Set: 27.807486 # Vehicle Depth:104.454726 # Seafloor Depth:-130.617201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.74; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 66.74; MB_Bottom_Detect_Filter_Min_Depth = 20.86; MB_Bottom_Detect_Filter_Max_Depth = 36.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.054815 meters # Minimum depth: 128.389062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 103.389062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838168; longitude = -122.151873; captureRadius = 10; duration = 42; initialDepth = 103.389062; finalDepth = 104.454726; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.162475 # Altitude Set: 26.162475 # Vehicle Depth:103.389062 # Seafloor Depth:-129.042074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.62; MB_Bottom_Detect_Filter_Max_Range = 62.79; MB_Bottom_Detect_Filter_Min_Depth = 19.62; MB_Bottom_Detect_Filter_Max_Depth = 34.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.054722 meters # Minimum depth: 126.408894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 101.408894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838329; longitude = -122.151312; captureRadius = 10; duration = 42; initialDepth = 101.408894; finalDepth = 103.389062; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.537293 # Altitude Set: 27.537293 # Vehicle Depth:101.408894 # Seafloor Depth:-128.946187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 66.09; MB_Bottom_Detect_Filter_Min_Depth = 20.65; MB_Bottom_Detect_Filter_Max_Depth = 35.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.591600 meters # Minimum depth: 124.380622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 99.380622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838491; longitude = -122.150752; captureRadius = 10; duration = 45; initialDepth = 99.380622; finalDepth = 101.408894; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.537293 # Altitude Set: 27.537293 # Vehicle Depth:99.380622 # Seafloor Depth:-126.001774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 66.09; MB_Bottom_Detect_Filter_Min_Depth = 20.65; MB_Bottom_Detect_Filter_Max_Depth = 35.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 1 # Segment length 42.198890 meters # Minimum depth: 123.677091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 98.677091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838663; longitude = -122.150155; captureRadius = 10; duration = 33; initialDepth = 98.677091; finalDepth = 99.380622; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638569 meters # Minimum depth: 122.075849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 97.075849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838849; longitude = -122.149743; captureRadius = 10; duration = 40; initialDepth = 97.075849; finalDepth = 98.677091; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.59722 # Altitude Set: 26.59722 # Vehicle Depth:97.075849 # Seafloor Depth:-123.673069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 63.83; MB_Bottom_Detect_Filter_Min_Depth = 19.95; MB_Bottom_Detect_Filter_Max_Depth = 34.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638462 meters # Minimum depth: 122.075849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 97.075849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839074; longitude = -122.149248; captureRadius = 10; duration = 40; initialDepth = 97.075849; finalDepth = 97.075849; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.59722 # Altitude Set: 26.59722 # Vehicle Depth:97.075849 # Seafloor Depth:-122.170999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 63.83; MB_Bottom_Detect_Filter_Min_Depth = 19.95; MB_Bottom_Detect_Filter_Max_Depth = 34.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638355 meters # Minimum depth: 121.363368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 96.363368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839298; longitude = -122.148753; captureRadius = 10; duration = 40; initialDepth = 96.363368; finalDepth = 97.075849; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.037559 # Altitude Set: 26.037559 # Vehicle Depth:96.363368 # Seafloor Depth:-122.400927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.53; MB_Bottom_Detect_Filter_Max_Range = 62.49; MB_Bottom_Detect_Filter_Min_Depth = 19.53; MB_Bottom_Detect_Filter_Max_Depth = 33.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638247 meters # Minimum depth: 119.524520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 94.524520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839522; longitude = -122.148258; captureRadius = 10; duration = 40; initialDepth = 94.524520; finalDepth = 96.363368; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.590795 # Altitude Set: 26.590795 # Vehicle Depth:94.52452 # Seafloor Depth:-121.115315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 63.82; MB_Bottom_Detect_Filter_Min_Depth = 19.94; MB_Bottom_Detect_Filter_Max_Depth = 34.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638139 meters # Minimum depth: 118.687062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 93.687062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839746; longitude = -122.147763; captureRadius = 10; duration = 40; initialDepth = 93.687062; finalDepth = 94.524520; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.590795 # Altitude Set: 26.590795 # Vehicle Depth:93.687062 # Seafloor Depth:-119.069207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 63.82; MB_Bottom_Detect_Filter_Min_Depth = 19.94; MB_Bottom_Detect_Filter_Max_Depth = 34.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.638032 meters # Minimum depth: 118.160010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 93.160010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839970; longitude = -122.147269; captureRadius = 10; duration = 40; initialDepth = 93.160010; finalDepth = 93.687062; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.768048 # Altitude Set: 25.768048 # Vehicle Depth:93.16001 # Seafloor Depth:-118.928058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 61.84; MB_Bottom_Detect_Filter_Min_Depth = 19.33; MB_Bottom_Detect_Filter_Max_Depth = 33.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637925 meters # Minimum depth: 116.865709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.865709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840194; longitude = -122.146774; captureRadius = 10; duration = 40; initialDepth = 91.865709; finalDepth = 93.160010; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.829315 # Altitude Set: 25.829315 # Vehicle Depth:91.865709 # Seafloor Depth:-117.695024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 61.99; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637817 meters # Minimum depth: 116.212576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.212576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840418; longitude = -122.146279; captureRadius = 10; duration = 40; initialDepth = 91.212576; finalDepth = 91.865709; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.829315 # Altitude Set: 25.829315 # Vehicle Depth:91.212576 # Seafloor Depth:-116.480979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 61.99; MB_Bottom_Detect_Filter_Min_Depth = 19.37; MB_Bottom_Detect_Filter_Max_Depth = 33.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637709 meters # Minimum depth: 115.833194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.833194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840642; longitude = -122.145784; captureRadius = 10; duration = 40; initialDepth = 90.833194; finalDepth = 91.212576; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.488776 # Altitude Set: 25.488776 # Vehicle Depth:90.833194 # Seafloor Depth:-116.321970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 61.17; MB_Bottom_Detect_Filter_Min_Depth = 19.12; MB_Bottom_Detect_Filter_Max_Depth = 33.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637602 meters # Minimum depth: 115.833194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.833194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840866; longitude = -122.145290; captureRadius = 10; duration = 40; initialDepth = 90.833194; finalDepth = 90.833194; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.596743 # Altitude Set: 25.596743 # Vehicle Depth:90.833194 # Seafloor Depth:-116.429937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.20; MB_Bottom_Detect_Filter_Max_Range = 61.43; MB_Bottom_Detect_Filter_Min_Depth = 19.20; MB_Bottom_Detect_Filter_Max_Depth = 33.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637495 meters # Minimum depth: 115.709248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.709248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841090; longitude = -122.144795; captureRadius = 10; duration = 40; initialDepth = 90.709248; finalDepth = 90.833194; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.596743 # Altitude Set: 25.596743 # Vehicle Depth:90.709248 # Seafloor Depth:-116.152439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.20; MB_Bottom_Detect_Filter_Max_Range = 61.43; MB_Bottom_Detect_Filter_Min_Depth = 19.20; MB_Bottom_Detect_Filter_Max_Depth = 33.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637387 meters # Minimum depth: 115.472558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.472558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841314; longitude = -122.144300; captureRadius = 10; duration = 40; initialDepth = 90.472558; finalDepth = 90.709248; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.443191 # Altitude Set: 25.443191 # Vehicle Depth:90.472558 # Seafloor Depth:-115.724484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 61.06; MB_Bottom_Detect_Filter_Min_Depth = 19.08; MB_Bottom_Detect_Filter_Max_Depth = 33.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637279 meters # Minimum depth: 115.210407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 90.210407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841538; longitude = -122.143805; captureRadius = 10; duration = 40; initialDepth = 90.210407; finalDepth = 90.472558; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.370131 # Altitude Set: 25.370131 # Vehicle Depth:90.210407 # Seafloor Depth:-115.580538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.03; MB_Bottom_Detect_Filter_Max_Range = 60.89; MB_Bottom_Detect_Filter_Min_Depth = 19.03; MB_Bottom_Detect_Filter_Max_Depth = 32.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637173 meters # Minimum depth: 114.712913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 89.712913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841762; longitude = -122.143310; captureRadius = 10; duration = 40; initialDepth = 89.712913; finalDepth = 90.210407; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.672364 # Altitude Set: 25.672364 # Vehicle Depth:89.712913 # Seafloor Depth:-115.385277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.25; MB_Bottom_Detect_Filter_Max_Range = 61.61; MB_Bottom_Detect_Filter_Min_Depth = 19.25; MB_Bottom_Detect_Filter_Max_Depth = 33.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.637064 meters # Minimum depth: 113.062495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 88.062495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841986; longitude = -122.142816; captureRadius = 10; duration = 40; initialDepth = 88.062495; finalDepth = 89.712913; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.581003 # Altitude Set: 26.581003 # Vehicle Depth:88.062495 # Seafloor Depth:-114.643498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 63.79; MB_Bottom_Detect_Filter_Min_Depth = 19.94; MB_Bottom_Detect_Filter_Max_Depth = 34.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636957 meters # Minimum depth: 111.738977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.738977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842210; longitude = -122.142321; captureRadius = 10; duration = 40; initialDepth = 86.738977; finalDepth = 88.062495; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.581003 # Altitude Set: 26.581003 # Vehicle Depth:86.738977 # Seafloor Depth:-113.187118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 63.79; MB_Bottom_Detect_Filter_Min_Depth = 19.94; MB_Bottom_Detect_Filter_Max_Depth = 34.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636850 meters # Minimum depth: 111.304492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.304492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842434; longitude = -122.141826; captureRadius = 10; duration = 40; initialDepth = 86.304492; finalDepth = 86.738977; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.448141 # Altitude Set: 26.448141 # Vehicle Depth:86.304492 # Seafloor Depth:-111.826090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 63.48; MB_Bottom_Detect_Filter_Min_Depth = 19.84; MB_Bottom_Detect_Filter_Max_Depth = 34.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636742 meters # Minimum depth: 111.304492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.304492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842658; longitude = -122.141331; captureRadius = 10; duration = 40; initialDepth = 86.304492; finalDepth = 86.304492; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.763137 # Altitude Set: 25.763137 # Vehicle Depth:86.304492 # Seafloor Depth:-112.067629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.32; MB_Bottom_Detect_Filter_Max_Range = 61.83; MB_Bottom_Detect_Filter_Min_Depth = 19.32; MB_Bottom_Detect_Filter_Max_Depth = 33.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636635 meters # Minimum depth: 111.374444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.374444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842882; longitude = -122.140836; captureRadius = 10; duration = 40; initialDepth = 86.374444; finalDepth = 86.304492; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.763137 # Altitude Set: 25.763137 # Vehicle Depth:86.374444 # Seafloor Depth:-111.595890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.32; MB_Bottom_Detect_Filter_Max_Range = 61.83; MB_Bottom_Detect_Filter_Min_Depth = 19.32; MB_Bottom_Detect_Filter_Max_Depth = 33.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636527 meters # Minimum depth: 111.374444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.374444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843106; longitude = -122.140342; captureRadius = 10; duration = 40; initialDepth = 86.374444; finalDepth = 86.374444; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.273935 # Altitude Set: 25.273935 # Vehicle Depth:86.374444 # Seafloor Depth:-111.648379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.96; MB_Bottom_Detect_Filter_Max_Range = 60.66; MB_Bottom_Detect_Filter_Min_Depth = 18.96; MB_Bottom_Detect_Filter_Max_Depth = 32.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636420 meters # Minimum depth: 111.463064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.463064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843330; longitude = -122.139847; captureRadius = 10; duration = 40; initialDepth = 86.463064; finalDepth = 86.374444; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.273935 # Altitude Set: 25.273935 # Vehicle Depth:86.463064 # Seafloor Depth:-111.569813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.96; MB_Bottom_Detect_Filter_Max_Range = 60.66; MB_Bottom_Detect_Filter_Min_Depth = 18.96; MB_Bottom_Detect_Filter_Max_Depth = 32.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636312 meters # Minimum depth: 111.230940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 86.230940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843554; longitude = -122.139352; captureRadius = 10; duration = 40; initialDepth = 86.230940; finalDepth = 86.463064; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.423474 # Altitude Set: 25.423474 # Vehicle Depth:86.23094 # Seafloor Depth:-111.654414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 61.02; MB_Bottom_Detect_Filter_Min_Depth = 19.07; MB_Bottom_Detect_Filter_Max_Depth = 33.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636205 meters # Minimum depth: 110.396925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 85.396925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843778; longitude = -122.138857; captureRadius = 10; duration = 40; initialDepth = 85.396925; finalDepth = 86.230940; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.978298 # Altitude Set: 25.978298 # Vehicle Depth:85.396925 # Seafloor Depth:-111.375223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.35; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.636098 meters # Minimum depth: 109.689988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.689988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844002; longitude = -122.138363; captureRadius = 10; duration = 40; initialDepth = 84.689988; finalDepth = 85.396925; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.978298 # Altitude Set: 25.978298 # Vehicle Depth:84.689988 # Seafloor Depth:-110.301209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; MB_Bottom_Detect_Filter_Max_Range = 62.35; MB_Bottom_Detect_Filter_Min_Depth = 19.48; MB_Bottom_Detect_Filter_Max_Depth = 33.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635990 meters # Minimum depth: 109.127284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.127284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844226; longitude = -122.137868; captureRadius = 10; duration = 40; initialDepth = 84.127284; finalDepth = 84.689988; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.611221 # Altitude Set: 25.611221 # Vehicle Depth:84.127284 # Seafloor Depth:-109.695964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.21; MB_Bottom_Detect_Filter_Max_Range = 61.47; MB_Bottom_Detect_Filter_Min_Depth = 19.21; MB_Bottom_Detect_Filter_Max_Depth = 33.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635882 meters # Minimum depth: 109.127284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.127284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844450; longitude = -122.137373; captureRadius = 10; duration = 40; initialDepth = 84.127284; finalDepth = 84.127284; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.56868 # Altitude Set: 25.56868 # Vehicle Depth:84.127284 # Seafloor Depth:-109.623019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 61.36; MB_Bottom_Detect_Filter_Min_Depth = 19.18; MB_Bottom_Detect_Filter_Max_Depth = 33.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635775 meters # Minimum depth: 109.121515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.121515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844674; longitude = -122.136878; captureRadius = 10; duration = 40; initialDepth = 84.121515; finalDepth = 84.127284; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.495735 # Altitude Set: 25.495735 # Vehicle Depth:84.121515 # Seafloor Depth:-109.436106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 61.19; MB_Bottom_Detect_Filter_Min_Depth = 19.12; MB_Bottom_Detect_Filter_Max_Depth = 33.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635668 meters # Minimum depth: 109.064225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 84.064225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844898; longitude = -122.136383; captureRadius = 10; duration = 40; initialDepth = 84.064225; finalDepth = 84.121515; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.314591 # Altitude Set: 25.314591 # Vehicle Depth:84.064225 # Seafloor Depth:-109.253144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 60.76; MB_Bottom_Detect_Filter_Min_Depth = 18.99; MB_Bottom_Detect_Filter_Max_Depth = 32.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635560 meters # Minimum depth: 108.354651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.354651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845122; longitude = -122.135889; captureRadius = 10; duration = 40; initialDepth = 83.354651; finalDepth = 84.064225; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.584731 # Altitude Set: 25.584731 # Vehicle Depth:83.354651 # Seafloor Depth:-108.939382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 61.40; MB_Bottom_Detect_Filter_Min_Depth = 19.19; MB_Bottom_Detect_Filter_Max_Depth = 33.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.635453 meters # Minimum depth: 108.132787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.132787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845346; longitude = -122.135394; captureRadius = 10; duration = 40; initialDepth = 83.132787; finalDepth = 83.354651; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.584731 # Altitude Set: 25.584731 # Vehicle Depth:83.132787 # Seafloor Depth:-108.481923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 61.40; MB_Bottom_Detect_Filter_Min_Depth = 19.19; MB_Bottom_Detect_Filter_Max_Depth = 33.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.287301 meters # Minimum depth: 107.290592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 82.290592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845570; longitude = -122.134899; captureRadius = 10; duration = 41; initialDepth = 82.290592; finalDepth = 83.132787; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.897566 # Altitude Set: 25.897566 # Vehicle Depth:82.290592 # Seafloor Depth:-108.188158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.15; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.317776 meters # Minimum depth: 106.307873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.307873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845797; longitude = -122.134398; captureRadius = 10; duration = 45; initialDepth = 81.307873; finalDepth = 82.290592; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.187082 # Altitude Set: 26.187082 # Vehicle Depth:81.307873 # Seafloor Depth:-107.494955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 62.85; 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 57.317638 meters # Minimum depth: 105.997286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.997286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846051; longitude = -122.133838; captureRadius = 10; duration = 45; initialDepth = 80.997286; finalDepth = 81.307873; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.187082 # Altitude Set: 26.187082 # Vehicle Depth:80.997286 # Seafloor Depth:-105.997286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 62.85; 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 53.496338 meters # Minimum depth: 106.124300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.124300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846305; longitude = -122.133278; captureRadius = 10; duration = 42; initialDepth = 81.124300; finalDepth = 80.997286; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 25 # Altitude Set: 25 # Vehicle Depth:81.1243 # Seafloor Depth:-106.124300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 18.75; MB_Bottom_Detect_Filter_Max_Depth = 32.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Edgetech sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 25.573495 # Altitude Set: 25.573495 # Vehicle Depth:81.1243 # Seafloor Depth:-106.697795 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 64.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 61.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 61.38; MB_Bottom_Detect_Filter_Min_Depth = 19.18; MB_Bottom_Detect_Filter_Max_Depth = 33.25; 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: 106.124300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.124300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846541; longitude = -122.132755; captureRadius = 10; duration = 600; initialDepth = 81.124300; finalDepth = 81.124300; maxCrossTrackError = 20; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 240.090291; pitch = -15.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 18.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 240.090291; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 60; abortOnTimeout = True; } #######################################################