# 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: 20060420test3.rte # Mission File: 20060420test3.cfg # Distance: 4849.736191 (m) # Estimated Time: 5148 (s) 1.430 (hr) # Abort Time: 6692 (s) # Way Points: 3 # Route Points: 85 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 20 (m) # Minimum Vehicle Altitude: 20 (m) # Abort Vehicle Altitude: 15 (m) # Maximum Vehicle Depth: 450 (m) # Abort Vehicle Depth: 500 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.845890 36.834228 -46.110433 0.000000 1 # 1 -121.843014 36.809658 -150.594523 2737.922508 1 # 2 -121.827444 36.823997 -40.911591 4849.736191 1 # # A total of 85 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 4849.736191 #define MISSION_TIME 5148 #define MISSION_TIMEOUT 6692 #define DEPTH_MAX 450.000000 #define DEPTH_ABORT 500.000000 #define ALTITUDE_DESIRED 20.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 15.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 35.448789 meters # Minimum depth: 40.911591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 20.911591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823997; longitude = -121.827444; captureRadius = 10; duration = 35; initialDepth = 20.911591; finalDepth = 20.911591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20 # Altitude Set: 20 # Vehicle Depth:20.911591 # Seafloor Depth:-40.911591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 48.00; MB_Bottom_Detect_Filter_Min_Depth = 10.00; MB_Bottom_Detect_Filter_Max_Depth = 48.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.540252 meters # Minimum depth: 40.911591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 20.911591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823756; longitude = -121.827705; captureRadius = 10; duration = 52; initialDepth = 20.911591; finalDepth = 20.911591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 21.246179 # Altitude Set: 21.246179 # Vehicle Depth:20.911591 # Seafloor Depth:-42.157770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.99; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.62; MB_Bottom_Detect_Filter_Max_Range = 50.99; MB_Bottom_Detect_Filter_Min_Depth = 10.62; MB_Bottom_Detect_Filter_Max_Depth = 50.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.806385 meters # Minimum depth: 40.911591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 20.911591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823400; longitude = -121.828092; captureRadius = 10; duration = 53; initialDepth = 20.911591; finalDepth = 20.911591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.441352 # Altitude Set: 23.441352 # Vehicle Depth:20.911591 # Seafloor Depth:-44.352943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.26; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.72; MB_Bottom_Detect_Filter_Max_Range = 56.26; MB_Bottom_Detect_Filter_Min_Depth = 11.72; MB_Bottom_Detect_Filter_Max_Depth = 56.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 61.679652 meters # Minimum depth: 41.143329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 21.143329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823034; longitude = -121.828489; captureRadius = 10; duration = 61; initialDepth = 21.143329; finalDepth = 20.911591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.267332 # Altitude Set: 25.267332 # Vehicle Depth:21.143329 # Seafloor Depth:-46.410661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.64; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.63; MB_Bottom_Detect_Filter_Max_Range = 60.64; MB_Bottom_Detect_Filter_Min_Depth = 12.63; MB_Bottom_Detect_Filter_Max_Depth = 60.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.859858 meters # Minimum depth: 43.394057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 23.394057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822615; longitude = -121.828944; captureRadius = 10; duration = 59; initialDepth = 23.394057; finalDepth = 21.143329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.380144 # Altitude Set: 25.380144 # Vehicle Depth:23.394057 # Seafloor Depth:-48.774201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.91; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.69; MB_Bottom_Detect_Filter_Max_Range = 60.91; MB_Bottom_Detect_Filter_Min_Depth = 12.69; MB_Bottom_Detect_Filter_Max_Depth = 60.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 55.626659 meters # Minimum depth: 45.589391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 25.589391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822209; longitude = -121.829385; captureRadius = 10; duration = 55; initialDepth = 25.589391; finalDepth = 23.394057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.71819 # Altitude Set: 26.71819 # Vehicle Depth:25.589391 # Seafloor Depth:-52.307581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.12; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 64.12; MB_Bottom_Detect_Filter_Min_Depth = 13.36; MB_Bottom_Detect_Filter_Max_Depth = 64.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.720848 meters # Minimum depth: 47.254563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 27.254563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821831; longitude = -121.829795; captureRadius = 10; duration = 50; initialDepth = 27.254563; finalDepth = 25.589391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.5072 # Altitude Set: 29.5072 # Vehicle Depth:27.254563 # Seafloor Depth:-56.761763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 70.82; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.75; MB_Bottom_Detect_Filter_Max_Range = 70.82; MB_Bottom_Detect_Filter_Min_Depth = 14.75; MB_Bottom_Detect_Filter_Max_Depth = 70.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.770186 meters # Minimum depth: 50.319858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.319858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821487; longitude = -121.830169; captureRadius = 10; duration = 60; initialDepth = 30.319858; finalDepth = 27.254563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.445147 # Altitude Set: 31.445147 # Vehicle Depth:30.319858 # Seafloor Depth:-61.765005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 75.47; MB_Bottom_Detect_Filter_Min_Depth = 15.72; MB_Bottom_Detect_Filter_Max_Depth = 75.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.490534 meters # Minimum depth: 53.738290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.738290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821074; longitude = -121.830618; captureRadius = 10; duration = 53; initialDepth = 33.738290; finalDepth = 30.319858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.263357 # Altitude Set: 35.263357 # Vehicle Depth:33.73829 # Seafloor Depth:-69.001647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 84.63; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.63; MB_Bottom_Detect_Filter_Max_Range = 84.63; MB_Bottom_Detect_Filter_Min_Depth = 17.63; MB_Bottom_Detect_Filter_Max_Depth = 84.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.857611 meters # Minimum depth: 58.470860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.470860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820711; longitude = -121.831012; captureRadius = 10; duration = 52; initialDepth = 38.470860; finalDepth = 33.738290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.542673 # Altitude Set: 35.542673 # Vehicle Depth:38.47086 # Seafloor Depth:-74.013533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 85.30; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.77; MB_Bottom_Detect_Filter_Max_Range = 85.30; MB_Bottom_Detect_Filter_Min_Depth = 17.77; MB_Bottom_Detect_Filter_Max_Depth = 85.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.770550 meters # Minimum depth: 65.188224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 45.188224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820352; longitude = -121.831402; captureRadius = 10; duration = 60; initialDepth = 45.188224; finalDepth = 38.470860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 35.542673 # Altitude Set: 35.542673 # Vehicle Depth:45.188224 # Seafloor Depth:-77.506563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 85.30; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.77; MB_Bottom_Detect_Filter_Max_Range = 85.30; MB_Bottom_Detect_Filter_Min_Depth = 17.77; MB_Bottom_Detect_Filter_Max_Depth = 85.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.354384 meters # Minimum depth: 71.637318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 51.637318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819940; longitude = -121.831850; captureRadius = 10; duration = 51; initialDepth = 51.637318; finalDepth = 45.188224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.318339 # Altitude Set: 32.318339 # Vehicle Depth:51.637318 # Seafloor Depth:-82.709231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.56; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 77.56; MB_Bottom_Detect_Filter_Min_Depth = 16.16; MB_Bottom_Detect_Filter_Max_Depth = 77.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.994399 meters # Minimum depth: 75.365766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 55.365766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819591; longitude = -121.832228; captureRadius = 10; duration = 54; initialDepth = 55.365766; finalDepth = 51.637318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.85688 # Altitude Set: 31.85688 # Vehicle Depth:55.365766 # Seafloor Depth:-87.222646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.46; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 76.46; MB_Bottom_Detect_Filter_Min_Depth = 15.93; MB_Bottom_Detect_Filter_Max_Depth = 76.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.770915 meters # Minimum depth: 79.839269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 59.839269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819217; longitude = -121.832634; captureRadius = 10; duration = 60; initialDepth = 59.839269; finalDepth = 55.365766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.85688 # Altitude Set: 31.85688 # Vehicle Depth:59.839269 # Seafloor Depth:-89.479876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.46; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 76.46; MB_Bottom_Detect_Filter_Min_Depth = 15.93; MB_Bottom_Detect_Filter_Max_Depth = 76.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.771048 meters # Minimum depth: 85.500574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 65.500574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818805; longitude = -121.833082; captureRadius = 10; duration = 60; initialDepth = 65.500574; finalDepth = 59.839269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 29.640607 # Altitude Set: 29.640607 # Vehicle Depth:65.500574 # Seafloor Depth:-92.053990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 71.14; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 71.14; MB_Bottom_Detect_Filter_Min_Depth = 14.82; MB_Bottom_Detect_Filter_Max_Depth = 71.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.440843 meters # Minimum depth: 88.751732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 68.751732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818392; longitude = -121.833530; captureRadius = 10; duration = 54; initialDepth = 68.751732; finalDepth = 65.500574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.041659 # Altitude Set: 27.041659 # Vehicle Depth:68.751732 # Seafloor Depth:-95.793391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.90; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 64.90; MB_Bottom_Detect_Filter_Min_Depth = 13.52; MB_Bottom_Detect_Filter_Max_Depth = 64.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.908810 meters # Minimum depth: 90.251595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 70.251595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818023; longitude = -121.833931; captureRadius = 10; duration = 51; initialDepth = 70.251595; finalDepth = 68.751732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.704633 # Altitude Set: 27.704633 # Vehicle Depth:70.251595 # Seafloor Depth:-97.956228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 66.49; MB_Bottom_Detect_Filter_Min_Depth = 13.85; MB_Bottom_Detect_Filter_Max_Depth = 66.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.771412 meters # Minimum depth: 94.346710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 74.346710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817670; longitude = -121.834314; captureRadius = 10; duration = 60; initialDepth = 74.346710; finalDepth = 70.251595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.704633 # Altitude Set: 27.704633 # Vehicle Depth:74.34671 # Seafloor Depth:-101.119335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 66.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 66.49; MB_Bottom_Detect_Filter_Min_Depth = 13.85; MB_Bottom_Detect_Filter_Max_Depth = 66.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.304668 meters # Minimum depth: 96.618946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 76.618946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817258; longitude = -121.834762; captureRadius = 10; duration = 52; initialDepth = 76.618946; finalDepth = 74.346710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 28.406083 # Altitude Set: 28.406083 # Vehicle Depth:76.618946 # Seafloor Depth:-105.025029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 68.17; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.20; MB_Bottom_Detect_Filter_Max_Range = 68.17; MB_Bottom_Detect_Filter_Min_Depth = 14.20; MB_Bottom_Detect_Filter_Max_Depth = 68.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.045623 meters # Minimum depth: 99.146104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 79.146104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816902; longitude = -121.835148; captureRadius = 10; duration = 54; initialDepth = 79.146104; finalDepth = 76.618946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.45438 # Altitude Set: 30.45438 # Vehicle Depth:79.146104 # Seafloor Depth:-109.600484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 73.09; MB_Bottom_Detect_Filter_Min_Depth = 15.23; MB_Bottom_Detect_Filter_Max_Depth = 73.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 61.444382 meters # Minimum depth: 102.253220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 82.253220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816535; longitude = -121.835546; captureRadius = 10; duration = 61; initialDepth = 82.253220; finalDepth = 79.146104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.529704 # Altitude Set: 33.529704 # Vehicle Depth:82.25322 # Seafloor Depth:-115.782924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 80.47; MB_Bottom_Detect_Filter_Min_Depth = 16.76; MB_Bottom_Detect_Filter_Max_Depth = 80.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.099304 meters # Minimum depth: 108.218418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 88.218418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816118; longitude = -121.835999; captureRadius = 10; duration = 60; initialDepth = 88.218418; finalDepth = 82.253220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.529704 # Altitude Set: 33.529704 # Vehicle Depth:88.218418 # Seafloor Depth:-120.492654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 80.47; MB_Bottom_Detect_Filter_Min_Depth = 16.76; MB_Bottom_Detect_Filter_Max_Depth = 80.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 55.391179 meters # Minimum depth: 113.325110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 93.325110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815710; longitude = -121.836443; captureRadius = 10; duration = 55; initialDepth = 93.325110; finalDepth = 88.218418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.274236 # Altitude Set: 32.274236 # Vehicle Depth:93.32511 # Seafloor Depth:-125.249626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.46; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 77.46; MB_Bottom_Detect_Filter_Min_Depth = 16.14; MB_Bottom_Detect_Filter_Max_Depth = 77.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.959982 meters # Minimum depth: 117.316555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 97.316555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815334; longitude = -121.836851; captureRadius = 10; duration = 50; initialDepth = 97.316555; finalDepth = 93.325110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.924516 # Altitude Set: 31.924516 # Vehicle Depth:97.316555 # Seafloor Depth:-128.052674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.62; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 76.62; MB_Bottom_Detect_Filter_Min_Depth = 15.96; MB_Bottom_Detect_Filter_Max_Depth = 76.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.772274 meters # Minimum depth: 122.593291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 102.593291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814988; longitude = -121.837227; captureRadius = 10; duration = 60; initialDepth = 102.593291; finalDepth = 97.316555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.736119 # Altitude Set: 30.736119 # Vehicle Depth:102.593291 # Seafloor Depth:-127.908308 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.77; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 73.77; MB_Bottom_Detect_Filter_Min_Depth = 15.37; MB_Bottom_Detect_Filter_Max_Depth = 73.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.254979 meters # Minimum depth: 125.606928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 105.606928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814575; longitude = -121.837675; captureRadius = 10; duration = 53; initialDepth = 105.606928; finalDepth = 102.593291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.315017 # Altitude Set: 25.315017 # Vehicle Depth:105.606928 # Seafloor Depth:-125.844736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.76; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.66; MB_Bottom_Detect_Filter_Max_Range = 60.76; MB_Bottom_Detect_Filter_Min_Depth = 12.66; MB_Bottom_Detect_Filter_Max_Depth = 60.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.096819 meters # Minimum depth: 125.606928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 105.606928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814214; longitude = -121.838067; captureRadius = 10; duration = 53; initialDepth = 105.606928; finalDepth = 105.606928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.237808 # Altitude Set: 20.237808 # Vehicle Depth:105.606928 # Seafloor Depth:-125.619685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.57; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 48.57; MB_Bottom_Detect_Filter_Min_Depth = 10.12; MB_Bottom_Detect_Filter_Max_Depth = 48.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 62.394827 meters # Minimum depth: 125.606928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 105.606928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813853; longitude = -121.838459; captureRadius = 10; duration = 62; initialDepth = 105.606928; finalDepth = 105.606928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 22.042151 # Altitude Set: 22.042151 # Vehicle Depth:105.606928 # Seafloor Depth:-127.649079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 52.90; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 52.90; MB_Bottom_Detect_Filter_Min_Depth = 11.02; MB_Bottom_Detect_Filter_Max_Depth = 52.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.150583 meters # Minimum depth: 125.619377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 105.619377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813430; longitude = -121.838919; captureRadius = 10; duration = 59; initialDepth = 105.619377; finalDepth = 105.606928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 24.730077 # Altitude Set: 24.730077 # Vehicle Depth:105.619377 # Seafloor Depth:-130.349454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 59.35; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.37; MB_Bottom_Detect_Filter_Max_Range = 59.35; MB_Bottom_Detect_Filter_Min_Depth = 12.37; MB_Bottom_Detect_Filter_Max_Depth = 59.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.341542 meters # Minimum depth: 126.754998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 106.754998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813028; longitude = -121.839355; captureRadius = 10; duration = 56; initialDepth = 106.754998; finalDepth = 105.619377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 24.811111 # Altitude Set: 24.811111 # Vehicle Depth:106.754998 # Seafloor Depth:-131.566109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 59.55; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.41; MB_Bottom_Detect_Filter_Max_Range = 59.55; MB_Bottom_Detect_Filter_Min_Depth = 12.41; MB_Bottom_Detect_Filter_Max_Depth = 59.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.011127 meters # Minimum depth: 129.273354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 109.273354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812646; longitude = -121.839771; captureRadius = 10; duration = 50; initialDepth = 109.273354; finalDepth = 106.754998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 24.811111 # Altitude Set: 24.811111 # Vehicle Depth:109.273354 # Seafloor Depth:-131.666947 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 59.55; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.41; MB_Bottom_Detect_Filter_Max_Range = 59.55; MB_Bottom_Detect_Filter_Min_Depth = 12.41; MB_Bottom_Detect_Filter_Max_Depth = 59.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.773136 meters # Minimum depth: 131.177859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 111.177859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812306; longitude = -121.840139; captureRadius = 10; duration = 60; initialDepth = 111.177859; finalDepth = 109.273354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.441843 # Altitude Set: 23.441843 # Vehicle Depth:111.177859 # Seafloor Depth:-134.619702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.26; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.72; MB_Bottom_Detect_Filter_Max_Range = 56.26; MB_Bottom_Detect_Filter_Min_Depth = 11.72; MB_Bottom_Detect_Filter_Max_Depth = 56.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.205318 meters # Minimum depth: 131.416292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 111.416292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811893; longitude = -121.840587; captureRadius = 10; duration = 54; initialDepth = 111.416292; finalDepth = 111.177859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.007021 # Altitude Set: 27.007021 # Vehicle Depth:111.416292 # Seafloor Depth:-138.423313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 64.82; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 64.82; MB_Bottom_Detect_Filter_Min_Depth = 13.50; MB_Bottom_Detect_Filter_Max_Depth = 64.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.147989 meters # Minimum depth: 133.065642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 113.065642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811525; longitude = -121.840987; captureRadius = 10; duration = 52; initialDepth = 113.065642; finalDepth = 111.416292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.959043 # Altitude Set: 27.959043 # Vehicle Depth:113.065642 # Seafloor Depth:-141.024685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.10; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.98; MB_Bottom_Detect_Filter_Max_Range = 67.10; MB_Bottom_Detect_Filter_Min_Depth = 13.98; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 60.773500 meters # Minimum depth: 136.878388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 116.878388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811171; longitude = -121.841371; captureRadius = 10; duration = 60; initialDepth = 116.878388; finalDepth = 113.065642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 27.959043 # Altitude Set: 27.959043 # Vehicle Depth:116.878388 # Seafloor Depth:-142.623468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 67.10; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.98; MB_Bottom_Detect_Filter_Max_Range = 67.10; MB_Bottom_Detect_Filter_Min_Depth = 13.98; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.069068 meters # Minimum depth: 139.494595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 119.494595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810759; longitude = -121.841820; captureRadius = 10; duration = 52; initialDepth = 119.494595; finalDepth = 116.878388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.74508 # Altitude Set: 25.74508 # Vehicle Depth:119.494595 # Seafloor Depth:-144.603977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.79; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.87; MB_Bottom_Detect_Filter_Max_Range = 61.79; MB_Bottom_Detect_Filter_Min_Depth = 12.87; MB_Bottom_Detect_Filter_Max_Depth = 61.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.284877 meters # Minimum depth: 141.382683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 121.382683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810405; longitude = -121.842203; captureRadius = 10; duration = 54; initialDepth = 121.382683; finalDepth = 119.494595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.109382 # Altitude Set: 25.109382 # Vehicle Depth:121.382683 # Seafloor Depth:-145.387111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.26; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.55; MB_Bottom_Detect_Filter_Max_Range = 60.26; MB_Bottom_Detect_Filter_Min_Depth = 12.55; MB_Bottom_Detect_Filter_Max_Depth = 60.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 55.709371 meters # Minimum depth: 143.467463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 123.467463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810037; longitude = -121.842604; captureRadius = 10; duration = 55; initialDepth = 123.467463; finalDepth = 121.382683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 24.004428 # Altitude Set: 24.004428 # Vehicle Depth:123.467463 # Seafloor Depth:-146.859228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 57.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 57.61; MB_Bottom_Detect_Filter_Min_Depth = 12.00; MB_Bottom_Detect_Filter_Max_Depth = 57.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 20.804877 meters # Minimum depth: 144.056679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 124.056679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809658; longitude = -121.843014; captureRadius = 10; duration = 20; initialDepth = 124.056679; finalDepth = 123.467463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.537844 # Altitude Set: 26.537844 # Vehicle Depth:124.056679 # Seafloor Depth:-150.594523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.69; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 63.69; MB_Bottom_Detect_Filter_Min_Depth = 13.27; MB_Bottom_Detect_Filter_Max_Depth = 63.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414630 meters # Minimum depth: 145.387111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 125.387111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809845; longitude = -121.843036; captureRadius = 10; duration = 62; initialDepth = 125.387111; finalDepth = 124.056679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.537844 # Altitude Set: 26.537844 # Vehicle Depth:125.387111 # Seafloor Depth:-150.217846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.69; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 63.69; MB_Bottom_Detect_Filter_Min_Depth = 13.27; MB_Bottom_Detect_Filter_Max_Depth = 63.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.010196 meters # Minimum depth: 145.763382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 125.763382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810405; longitude = -121.843102; captureRadius = 10; duration = 59; initialDepth = 125.763382; finalDepth = 125.387111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 24.830735 # Altitude Set: 24.830735 # Vehicle Depth:125.763382 # Seafloor Depth:-147.864656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 59.59; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.42; MB_Bottom_Detect_Filter_Max_Range = 59.59; MB_Bottom_Detect_Filter_Min_Depth = 12.42; MB_Bottom_Detect_Filter_Max_Depth = 59.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.336140 meters # Minimum depth: 143.813117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 123.813117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810935; longitude = -121.843164; captureRadius = 10; duration = 53; initialDepth = 123.813117; finalDepth = 125.763382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 22.101274 # Altitude Set: 22.101274 # Vehicle Depth:123.813117 # Seafloor Depth:-145.230913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 53.04; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 53.04; MB_Bottom_Detect_Filter_Min_Depth = 11.05; MB_Bottom_Detect_Filter_Max_Depth = 53.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414632 meters # Minimum depth: 140.823804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 120.823804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811413; longitude = -121.843220; captureRadius = 10; duration = 62; initialDepth = 120.823804; finalDepth = 123.813117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.1216 # Altitude Set: 23.1216 # Vehicle Depth:120.823804 # Seafloor Depth:-143.945404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 55.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.56; MB_Bottom_Detect_Filter_Max_Range = 55.49; MB_Bottom_Detect_Filter_Min_Depth = 11.56; MB_Bottom_Detect_Filter_Max_Depth = 55.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414633 meters # Minimum depth: 137.292906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 117.292906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811973; longitude = -121.843285; captureRadius = 10; duration = 62; initialDepth = 117.292906; finalDepth = 120.823804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.631688 # Altitude Set: 23.631688 # Vehicle Depth:117.292906 # Seafloor Depth:-140.924594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.72; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.82; MB_Bottom_Detect_Filter_Max_Range = 56.72; MB_Bottom_Detect_Filter_Min_Depth = 11.82; MB_Bottom_Detect_Filter_Max_Depth = 56.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414633 meters # Minimum depth: 132.547752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 112.547752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812534; longitude = -121.843351; captureRadius = 10; duration = 62; initialDepth = 112.547752; finalDepth = 117.292906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.631688 # Altitude Set: 23.631688 # Vehicle Depth:112.547752 # Seafloor Depth:-135.955659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.72; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.82; MB_Bottom_Detect_Filter_Max_Range = 56.72; MB_Bottom_Detect_Filter_Min_Depth = 11.82; MB_Bottom_Detect_Filter_Max_Depth = 56.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414635 meters # Minimum depth: 124.475418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 104.475418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813094; longitude = -121.843416; captureRadius = 10; duration = 62; initialDepth = 104.475418; finalDepth = 112.547752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.595239 # Altitude Set: 26.595239 # Vehicle Depth:104.475418 # Seafloor Depth:-131.070657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.83; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 63.83; MB_Bottom_Detect_Filter_Min_Depth = 13.30; MB_Bottom_Detect_Filter_Max_Depth = 63.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414635 meters # Minimum depth: 119.603017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 99.603017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813654; longitude = -121.843482; captureRadius = 10; duration = 62; initialDepth = 99.603017; finalDepth = 104.475418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 26.595239 # Altitude Set: 26.595239 # Vehicle Depth:99.603017 # Seafloor Depth:-123.139464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 63.83; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 63.83; MB_Bottom_Detect_Filter_Min_Depth = 13.30; MB_Bottom_Detect_Filter_Max_Depth = 63.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 61.279825 meters # Minimum depth: 115.270265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 95.270265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814214; longitude = -121.843548; captureRadius = 10; duration = 61; initialDepth = 95.270265; finalDepth = 99.603017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.536447 # Altitude Set: 23.536447 # Vehicle Depth:95.270265 # Seafloor Depth:-117.956481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.77; MB_Bottom_Detect_Filter_Max_Range = 56.49; MB_Bottom_Detect_Filter_Min_Depth = 11.77; MB_Bottom_Detect_Filter_Max_Depth = 56.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.066521 meters # Minimum depth: 111.200806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 91.200806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814764; longitude = -121.843612; captureRadius = 10; duration = 51; initialDepth = 91.200806; finalDepth = 95.270265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 23.417289 # Altitude Set: 23.417289 # Vehicle Depth:91.200806 # Seafloor Depth:-114.618095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 56.20; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.71; MB_Bottom_Detect_Filter_Max_Range = 56.20; MB_Bottom_Detect_Filter_Min_Depth = 11.71; MB_Bottom_Detect_Filter_Max_Depth = 56.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.605768 meters # Minimum depth: 97.007116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 77.007116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815222; longitude = -121.843666; captureRadius = 10; duration = 55; initialDepth = 77.007116; finalDepth = 91.200806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.872163 # Altitude Set: 32.872163 # Vehicle Depth:77.007116 # Seafloor Depth:-109.879279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 78.89; MB_Bottom_Detect_Filter_Min_Depth = 16.44; MB_Bottom_Detect_Filter_Max_Depth = 78.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.740580 meters # Minimum depth: 81.926563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 61.926563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815721; longitude = -121.843724; captureRadius = 10; duration = 56; initialDepth = 61.926563; finalDepth = 77.007116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.111268 # Altitude Set: 33.111268 # Vehicle Depth:61.926563 # Seafloor Depth:-95.037831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 79.47; MB_Bottom_Detect_Filter_Min_Depth = 16.56; MB_Bottom_Detect_Filter_Max_Depth = 79.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414639 meters # Minimum depth: 67.059204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 47.059204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816230; longitude = -121.843784; captureRadius = 10; duration = 62; initialDepth = 47.059204; finalDepth = 61.926563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.111268 # Altitude Set: 33.111268 # Vehicle Depth:47.059204 # Seafloor Depth:-77.354649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 79.47; MB_Bottom_Detect_Filter_Min_Depth = 16.56; MB_Bottom_Detect_Filter_Max_Depth = 79.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414640 meters # Minimum depth: 66.626686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 46.626686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816790; longitude = -121.843849; captureRadius = 10; duration = 62; initialDepth = 46.626686; finalDepth = 47.059204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.295445 # Altitude Set: 30.295445 # Vehicle Depth:46.626686 # Seafloor Depth:-67.117685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.71; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 72.71; MB_Bottom_Detect_Filter_Min_Depth = 15.15; MB_Bottom_Detect_Filter_Max_Depth = 72.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414641 meters # Minimum depth: 66.131664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 46.131664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817350; longitude = -121.843915; captureRadius = 10; duration = 62; initialDepth = 46.131664; finalDepth = 46.626686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.490999 # Altitude Set: 20.490999 # Vehicle Depth:46.131664 # Seafloor Depth:-66.568679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.18; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 49.18; MB_Bottom_Detect_Filter_Min_Depth = 10.25; MB_Bottom_Detect_Filter_Max_Depth = 49.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414641 meters # Minimum depth: 65.711948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 45.711948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817911; longitude = -121.843980; captureRadius = 10; duration = 62; initialDepth = 45.711948; finalDepth = 46.131664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.437015 # Altitude Set: 20.437015 # Vehicle Depth:45.711948 # Seafloor Depth:-65.958103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.05; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 49.05; MB_Bottom_Detect_Filter_Min_Depth = 10.22; MB_Bottom_Detect_Filter_Max_Depth = 49.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414642 meters # Minimum depth: 64.705889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 44.705889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818471; longitude = -121.844046; captureRadius = 10; duration = 62; initialDepth = 44.705889; finalDepth = 45.711948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.504151 # Altitude Set: 20.504151 # Vehicle Depth:44.705889 # Seafloor Depth:-65.210040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.21; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 49.21; MB_Bottom_Detect_Filter_Min_Depth = 10.25; MB_Bottom_Detect_Filter_Max_Depth = 49.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.875396 meters # Minimum depth: 64.167278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 44.167278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819031; longitude = -121.844111; captureRadius = 10; duration = 57; initialDepth = 44.167278; finalDepth = 44.705889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.504151 # Altitude Set: 20.504151 # Vehicle Depth:44.167278 # Seafloor Depth:-64.512321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.21; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 49.21; MB_Bottom_Detect_Filter_Min_Depth = 10.25; MB_Bottom_Detect_Filter_Max_Depth = 49.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.470962 meters # Minimum depth: 63.632141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.632141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819550; longitude = -121.844172; captureRadius = 10; duration = 54; initialDepth = 43.632141; finalDepth = 44.167278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.365255 # Altitude Set: 20.365255 # Vehicle Depth:43.632141 # Seafloor Depth:-63.997396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.88; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 48.88; MB_Bottom_Detect_Filter_Min_Depth = 10.18; MB_Bottom_Detect_Filter_Max_Depth = 48.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414645 meters # Minimum depth: 63.386329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.386329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820039; longitude = -121.844229; captureRadius = 10; duration = 62; initialDepth = 43.386329; finalDepth = 43.632141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.365255 # Altitude Set: 20.365255 # Vehicle Depth:43.386329 # Seafloor Depth:-63.537352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.88; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 48.88; MB_Bottom_Detect_Filter_Min_Depth = 10.18; MB_Bottom_Detect_Filter_Max_Depth = 48.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414645 meters # Minimum depth: 63.284252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.284252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820599; longitude = -121.844295; captureRadius = 10; duration = 62; initialDepth = 43.284252; finalDepth = 43.386329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.151023 # Altitude Set: 20.151023 # Vehicle Depth:43.284252 # Seafloor Depth:-63.284252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.36; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 48.36; MB_Bottom_Detect_Filter_Min_Depth = 10.08; MB_Bottom_Detect_Filter_Max_Depth = 48.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414646 meters # Minimum depth: 63.284252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.284252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821159; longitude = -121.844360; captureRadius = 10; duration = 62; initialDepth = 43.284252; finalDepth = 43.284252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.408087 # Altitude Set: 20.408087 # Vehicle Depth:43.284252 # Seafloor Depth:-63.692339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.98; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.20; MB_Bottom_Detect_Filter_Max_Range = 48.98; MB_Bottom_Detect_Filter_Min_Depth = 10.20; MB_Bottom_Detect_Filter_Max_Depth = 48.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414647 meters # Minimum depth: 63.284252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.284252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821719; longitude = -121.844426; captureRadius = 10; duration = 62; initialDepth = 43.284252; finalDepth = 43.284252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.45259 # Altitude Set: 20.45259 # Vehicle Depth:43.284252 # Seafloor Depth:-63.736842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 49.09; MB_Bottom_Detect_Filter_Min_Depth = 10.23; MB_Bottom_Detect_Filter_Max_Depth = 49.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414648 meters # Minimum depth: 63.514480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.514480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822279; longitude = -121.844491; captureRadius = 10; duration = 62; initialDepth = 43.514480; finalDepth = 43.284252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.45259 # Altitude Set: 20.45259 # Vehicle Depth:43.51448 # Seafloor Depth:-63.550783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 49.09; MB_Bottom_Detect_Filter_Min_Depth = 10.23; MB_Bottom_Detect_Filter_Max_Depth = 49.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 60.145025 meters # Minimum depth: 63.148124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.148124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822839; longitude = -121.844557; captureRadius = 10; duration = 60; initialDepth = 43.148124; finalDepth = 43.514480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.296502 # Altitude Set: 20.296502 # Vehicle Depth:43.148124 # Seafloor Depth:-63.444626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 48.71; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 48.71; MB_Bottom_Detect_Filter_Min_Depth = 10.15; MB_Bottom_Detect_Filter_Max_Depth = 48.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.201343 meters # Minimum depth: 62.656992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 42.656992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823379; longitude = -121.844620; captureRadius = 10; duration = 52; initialDepth = 42.656992; finalDepth = 43.148124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.471584 # Altitude Set: 20.471584 # Vehicle Depth:42.656992 # Seafloor Depth:-63.128576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.13; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 49.13; MB_Bottom_Detect_Filter_Min_Depth = 10.24; MB_Bottom_Detect_Filter_Max_Depth = 49.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.470967 meters # Minimum depth: 62.373239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 42.373239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823848; longitude = -121.844675; captureRadius = 10; duration = 54; initialDepth = 42.373239; finalDepth = 42.656992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.471584 # Altitude Set: 20.471584 # Vehicle Depth:42.373239 # Seafloor Depth:-62.643187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.13; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 49.13; MB_Bottom_Detect_Filter_Min_Depth = 10.24; MB_Bottom_Detect_Filter_Max_Depth = 49.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.875403 meters # Minimum depth: 61.907338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 41.907338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824336; longitude = -121.844732; captureRadius = 10; duration = 57; initialDepth = 41.907338; finalDepth = 42.373239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.453112 # Altitude Set: 20.453112 # Vehicle Depth:41.907338 # Seafloor Depth:-62.360450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 49.09; MB_Bottom_Detect_Filter_Min_Depth = 10.23; MB_Bottom_Detect_Filter_Max_Depth = 49.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414652 meters # Minimum depth: 61.202750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 41.202750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824856; longitude = -121.844793; captureRadius = 10; duration = 62; initialDepth = 41.202750; finalDepth = 41.907338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.585061 # Altitude Set: 20.585061 # Vehicle Depth:41.20275 # Seafloor Depth:-61.787811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.40; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 49.40; MB_Bottom_Detect_Filter_Min_Depth = 10.29; MB_Bottom_Detect_Filter_Max_Depth = 49.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414652 meters # Minimum depth: 60.417279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 40.417279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825416; longitude = -121.844858; captureRadius = 10; duration = 62; initialDepth = 40.417279; finalDepth = 41.202750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.585061 # Altitude Set: 20.585061 # Vehicle Depth:40.417279 # Seafloor Depth:-60.911971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.40; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 49.40; MB_Bottom_Detect_Filter_Min_Depth = 10.29; MB_Bottom_Detect_Filter_Max_Depth = 49.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414653 meters # Minimum depth: 59.773135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.773135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825976; longitude = -121.844924; captureRadius = 10; duration = 62; initialDepth = 39.773135; finalDepth = 40.417279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.685918 # Altitude Set: 20.685918 # Vehicle Depth:39.773135 # Seafloor Depth:-60.459053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.65; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 49.65; MB_Bottom_Detect_Filter_Min_Depth = 10.34; MB_Bottom_Detect_Filter_Max_Depth = 49.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414654 meters # Minimum depth: 58.734725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.734725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826536; longitude = -121.844990; captureRadius = 10; duration = 62; initialDepth = 38.734725; finalDepth = 39.773135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.857526 # Altitude Set: 20.857526 # Vehicle Depth:38.734725 # Seafloor Depth:-59.592251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.06; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.43; MB_Bottom_Detect_Filter_Max_Range = 50.06; MB_Bottom_Detect_Filter_Min_Depth = 10.43; MB_Bottom_Detect_Filter_Max_Depth = 50.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414654 meters # Minimum depth: 58.186207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.186207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827096; longitude = -121.845055; captureRadius = 10; duration = 62; initialDepth = 38.186207; finalDepth = 38.734725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.857526 # Altitude Set: 20.857526 # Vehicle Depth:38.186207 # Seafloor Depth:-58.940345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.06; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.43; MB_Bottom_Detect_Filter_Max_Range = 50.06; MB_Bottom_Detect_Filter_Min_Depth = 10.43; MB_Bottom_Detect_Filter_Max_Depth = 50.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.740596 meters # Minimum depth: 56.844236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.844236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827656; longitude = -121.845121; captureRadius = 10; duration = 56; initialDepth = 36.844236; finalDepth = 38.186207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.985408 # Altitude Set: 20.985408 # Vehicle Depth:36.844236 # Seafloor Depth:-57.829644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.36; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 50.36; MB_Bottom_Detect_Filter_Min_Depth = 10.49; MB_Bottom_Detect_Filter_Max_Depth = 50.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.605785 meters # Minimum depth: 56.442918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.442918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828166; longitude = -121.845180; captureRadius = 10; duration = 55; initialDepth = 36.442918; finalDepth = 36.844236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.985408 # Altitude Set: 20.985408 # Vehicle Depth:36.442918 # Seafloor Depth:-56.897201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.36; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 50.36; MB_Bottom_Detect_Filter_Min_Depth = 10.49; MB_Bottom_Detect_Filter_Max_Depth = 50.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414656 meters # Minimum depth: 55.544641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.544641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828665; longitude = -121.845239; captureRadius = 10; duration = 62; initialDepth = 35.544641; finalDepth = 36.442918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.574822 # Altitude Set: 20.574822 # Vehicle Depth:35.544641 # Seafloor Depth:-56.119463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.38; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 49.38; MB_Bottom_Detect_Filter_Min_Depth = 10.29; MB_Bottom_Detect_Filter_Max_Depth = 49.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414658 meters # Minimum depth: 54.013907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 34.013907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829225; longitude = -121.845304; captureRadius = 10; duration = 62; initialDepth = 34.013907; finalDepth = 35.544641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 21.070076 # Altitude Set: 21.070076 # Vehicle Depth:34.013907 # Seafloor Depth:-55.083983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.57; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 50.57; MB_Bottom_Detect_Filter_Min_Depth = 10.54; MB_Bottom_Detect_Filter_Max_Depth = 50.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414659 meters # Minimum depth: 53.311260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.311260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829785; longitude = -121.845370; captureRadius = 10; duration = 62; initialDepth = 33.311260; finalDepth = 34.013907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 21.070076 # Altitude Set: 21.070076 # Vehicle Depth:33.31126 # Seafloor Depth:-53.987363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.57; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 50.57; MB_Bottom_Detect_Filter_Min_Depth = 10.54; MB_Bottom_Detect_Filter_Max_Depth = 50.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414659 meters # Minimum depth: 52.182867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.182867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830345; longitude = -121.845435; captureRadius = 10; duration = 62; initialDepth = 32.182867; finalDepth = 33.311260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.676103 # Altitude Set: 20.676103 # Vehicle Depth:32.182867 # Seafloor Depth:-52.780779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.62; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 49.62; MB_Bottom_Detect_Filter_Min_Depth = 10.34; MB_Bottom_Detect_Filter_Max_Depth = 49.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414660 meters # Minimum depth: 51.286336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.286336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830905; longitude = -121.845501; captureRadius = 10; duration = 62; initialDepth = 31.286336; finalDepth = 32.182867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.644239 # Altitude Set: 20.644239 # Vehicle Depth:31.286336 # Seafloor Depth:-51.930575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.55; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.32; MB_Bottom_Detect_Filter_Max_Range = 49.55; MB_Bottom_Detect_Filter_Min_Depth = 10.32; MB_Bottom_Detect_Filter_Max_Depth = 49.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414661 meters # Minimum depth: 50.382143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.382143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831465; longitude = -121.845566; captureRadius = 10; duration = 62; initialDepth = 30.382143; finalDepth = 31.286336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.773449 # Altitude Set: 20.773449 # Vehicle Depth:30.382143 # Seafloor Depth:-51.155592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.86; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 49.86; MB_Bottom_Detect_Filter_Min_Depth = 10.39; MB_Bottom_Detect_Filter_Max_Depth = 49.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414662 meters # Minimum depth: 49.571030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 29.571030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832025; longitude = -121.845632; captureRadius = 10; duration = 62; initialDepth = 29.571030; finalDepth = 30.382143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.773449 # Altitude Set: 20.773449 # Vehicle Depth:29.57103 # Seafloor Depth:-50.304287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.86; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 49.86; MB_Bottom_Detect_Filter_Min_Depth = 10.39; MB_Bottom_Detect_Filter_Max_Depth = 49.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414662 meters # Minimum depth: 48.557270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.557270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832585; longitude = -121.845697; captureRadius = 10; duration = 62; initialDepth = 28.557270; finalDepth = 29.571030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.754261 # Altitude Set: 20.754261 # Vehicle Depth:28.55727 # Seafloor Depth:-49.311531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 49.81; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.38; MB_Bottom_Detect_Filter_Max_Range = 49.81; MB_Bottom_Detect_Filter_Min_Depth = 10.38; MB_Bottom_Detect_Filter_Max_Depth = 49.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.414664 meters # Minimum depth: 47.329622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 27.329622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833145; longitude = -121.845763; captureRadius = 10; duration = 62; initialDepth = 27.329622; finalDepth = 28.557270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.926299 # Altitude Set: 20.926299 # Vehicle Depth:27.329622 # Seafloor Depth:-48.255921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.46; MB_Bottom_Detect_Filter_Max_Range = 50.22; MB_Bottom_Detect_Filter_Min_Depth = 10.46; MB_Bottom_Detect_Filter_Max_Depth = 50.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 58.253686 meters # Minimum depth: 46.119791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 26.119791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833705; longitude = -121.845828; captureRadius = 10; duration = 58; initialDepth = 26.119791; finalDepth = 27.329622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 20.926299 # Altitude Set: 20.926299 # Vehicle Depth:26.119791 # Seafloor Depth:-46.961367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 50.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.46; MB_Bottom_Detect_Filter_Max_Range = 50.22; MB_Bottom_Detect_Filter_Min_Depth = 10.46; MB_Bottom_Detect_Filter_Max_Depth = 50.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 20.841576 # Altitude Set: 20.841576 # Vehicle Depth:26.110433 # Seafloor Depth:-46.110433 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 50.02; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.42; MB_Bottom_Detect_Filter_Max_Range = 50.02; MB_Bottom_Detect_Filter_Min_Depth = 10.42; MB_Bottom_Detect_Filter_Max_Depth = 50.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 46.110433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 26.110433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834228; longitude = -121.845890; captureRadius = 10; duration = 500; initialDepth = 26.110433; finalDepth = 26.119791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 173.932799; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 173.932799; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################