# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: test.rte # Mission File: test.cfg # Distance: 45917.796354 (m) # Estimated Time: 36872 (s) 10.242 (hr) # Abort Time: 47934 (s) # Way Points: 22 # Route Points: 221 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 100 (m) # Minimum Vehicle Altitude: 80 (m) # Abort Vehicle Altitude: 50 (m) # Maximum Vehicle Depth: 1850 (m) # Abort Vehicle Depth: 1900 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 400 (m) # Waypoint Spacing: 200 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.31 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.111668 36.709242 -1762.423309 0.000000 3 # 1 -122.131704 36.745745 -1331.794739 4427.204248 4 # 2 -122.129655 36.746474 -1331.386536 4627.204248 3 # 3 -122.109620 36.709970 -1774.181152 9054.408496 4 # 4 -122.107571 36.710699 -1795.278595 9254.408496 3 # 5 -122.127606 36.747203 -1324.678925 13681.612743 4 # 6 -122.125557 36.747931 -1307.811340 13881.612743 3 # 7 -122.105523 36.711427 -1773.914368 18308.816991 4 # 8 -122.103475 36.712155 -1757.075562 18508.816991 3 # 9 -122.123507 36.748660 -1294.158661 22936.021239 4 # 10 -122.121458 36.749388 -1309.754822 23136.021239 3 # 11 -122.101426 36.712883 -1769.211182 27563.225487 4 # 12 -122.099378 36.713612 -1747.655792 27763.225487 3 # 13 -122.119409 36.750117 -1309.394623 32190.429734 4 # 14 -122.117360 36.750846 -1277.079803 32390.429734 3 # 15 -122.097329 36.714340 -1725.206757 36817.633982 4 # 16 -122.099689 36.724407 -1565.543762 37954.183841 3 # 17 -122.119321 36.717427 -1640.881470 39870.853975 4 # 18 -122.124330 36.726553 -1492.992676 40977.655031 3 # 19 -122.104696 36.733534 -1447.612244 42894.325165 4 # 20 -122.109704 36.742660 -1420.471100 44001.126220 3 # 21 -122.129339 36.735678 -1375.691986 45917.796354 4 # # A total of 221 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 45917.796354 #define MISSION_TIME 36872 #define MISSION_TIMEOUT 47934 #define DEPTH_MAX 1850.000000 #define DEPTH_ABORT 1900.000000 #define ALTITUDE_DESIRED 100.000000 #define ALTITUDE_MIN 80.000000 #define ALTITUDE_ABORT 50.000000 #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 DESCENDRUDDER 4.000000 #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 = 5313; 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 21 # Segment length 194.056433 meters # Minimum depth: 1372.553480 meters looking forward 400.000000 meters along route # Maximum depth: 1385.624348 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1272.553480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735678; longitude = -122.129339; captureRadius = 10; duration = 194; initialDepth = 1272.553480; finalDepth = 1272.553480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.138506 # Altitude Set: 100 # Vehicle Depth:1272.55348 # Seafloor Depth:-1375.691986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 217.276797 meters # Minimum depth: 1374.997401 meters looking forward 400.000000 meters along route # Maximum depth: 1431.017204 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1274.997401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736385; longitude = -122.127351; captureRadius = 10; duration = 217; initialDepth = 1274.997401; finalDepth = 1272.553480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.875303 # Altitude Set: 100 # Vehicle Depth:1274.997401 # Seafloor Depth:-1388.872704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 217.275018 meters # Minimum depth: 1392.674963 meters looking forward 400.000000 meters along route # Maximum depth: 1439.751536 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1292.674963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737177; longitude = -122.125126; captureRadius = 10; duration = 217; initialDepth = 1292.674963; finalDepth = 1274.997401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 143.277795 # Altitude Set: 100 # Vehicle Depth:1292.674963 # Seafloor Depth:-1435.952758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 227.928880 meters # Minimum depth: 1421.399492 meters looking forward 400.000000 meters along route # Maximum depth: 1437.928239 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.399492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737968; longitude = -122.122900; captureRadius = 10; duration = 227; initialDepth = 1321.399492; finalDepth = 1292.674963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 143.277795 # Altitude Set: 100 # Vehicle Depth:1321.399492 # Seafloor Depth:-1426.133997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 206.615820 meters # Minimum depth: 1420.748481 meters looking forward 400.000000 meters along route # Maximum depth: 1425.018227 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1320.748481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.120565; captureRadius = 10; duration = 206; initialDepth = 1320.748481; finalDepth = 1321.399492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.734505 # Altitude Set: 100 # Vehicle Depth:1320.748481 # Seafloor Depth:-1421.266377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 217.269683 meters # Minimum depth: 1420.748481 meters looking forward 400.000000 meters along route # Maximum depth: 1423.559283 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1320.748481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739551; longitude = -122.118448; captureRadius = 10; duration = 217; initialDepth = 1320.748481; finalDepth = 1320.748481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.585977 # Altitude Set: 100 # Vehicle Depth:1320.748481 # Seafloor Depth:-1422.334458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 217.267904 meters # Minimum depth: 1419.547235 meters looking forward 400.000000 meters along route # Maximum depth: 1423.559283 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1319.547235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740343; longitude = -122.116222; captureRadius = 10; duration = 217; initialDepth = 1319.547235; finalDepth = 1320.748481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.949697 # Altitude Set: 100 # Vehicle Depth:1319.547235 # Seafloor Depth:-1422.496932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 217.266127 meters # Minimum depth: 1415.893739 meters looking forward 400.000000 meters along route # Maximum depth: 1421.049757 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1315.893739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741134; longitude = -122.113996; captureRadius = 10; duration = 217; initialDepth = 1315.893739; finalDepth = 1319.547235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.964904 # Altitude Set: 100 # Vehicle Depth:1315.893739 # Seafloor Depth:-1418.858643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 201.713472 meters # Minimum depth: 1415.893739 meters looking forward 400.000000 meters along route # Maximum depth: 1420.215800 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1315.893739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741925; longitude = -122.111770; captureRadius = 10; duration = 201; initialDepth = 1315.893739; finalDepth = 1315.893739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.964904 # Altitude Set: 100 # Vehicle Depth:1315.893739 # Seafloor Depth:-1417.445393 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 36.430127 meters # Minimum depth: 1416.211720 meters looking forward 400.000000 meters along route # Maximum depth: 1422.054511 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1316.211720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742660; longitude = -122.109704; captureRadius = 10; duration = 36; initialDepth = 1316.211720; finalDepth = 1315.893739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.25938 # Altitude Set: 100 # Vehicle Depth:1316.21172 # Seafloor Depth:-1420.471100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 215.952783 meters # Minimum depth: 1418.047218 meters looking forward 400.000000 meters along route # Maximum depth: 1436.262080 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1318.047218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742360; longitude = -122.109539; captureRadius = 10; duration = 215; initialDepth = 1318.047218; finalDepth = 1316.211720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.25938 # Altitude Set: 100 # Vehicle Depth:1318.047218 # Seafloor Depth:-1422.122259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 215.953581 meters # Minimum depth: 1426.259139 meters looking forward 400.000000 meters along route # Maximum depth: 1445.376607 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1326.259139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740579; longitude = -122.108562; captureRadius = 10; duration = 215; initialDepth = 1326.259139; finalDepth = 1318.047218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.748811 # Altitude Set: 100 # Vehicle Depth:1326.259139 # Seafloor Depth:-1437.007950 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 215.954378 meters # Minimum depth: 1440.479418 meters looking forward 400.000000 meters along route # Maximum depth: 1446.591479 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.479418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.107585; captureRadius = 10; duration = 215; initialDepth = 1340.479418; finalDepth = 1326.259139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.748811 # Altitude Set: 100 # Vehicle Depth:1340.479418 # Seafloor Depth:-1446.591479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 215.955176 meters # Minimum depth: 1440.599289 meters looking forward 400.000000 meters along route # Maximum depth: 1446.392626 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.599289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737018; longitude = -122.106607; captureRadius = 10; duration = 215; initialDepth = 1340.599289; finalDepth = 1340.479418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.112061 # Altitude Set: 100 # Vehicle Depth:1340.599289 # Seafloor Depth:-1442.436610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 206.555010 meters # Minimum depth: 1440.599289 meters looking forward 400.000000 meters along route # Maximum depth: 1446.348338 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.599289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735237; longitude = -122.105630; captureRadius = 10; duration = 206; initialDepth = 1340.599289; finalDepth = 1340.599289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.539216 # Altitude Set: 100 # Vehicle Depth:1340.599289 # Seafloor Depth:-1443.138505 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 169.104067 meters # Minimum depth: 1443.138505 meters looking forward 400.000000 meters along route # Maximum depth: 1457.397344 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1343.138505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733534; longitude = -122.104696; captureRadius = 10; duration = 169; initialDepth = 1343.138505; finalDepth = 1340.599289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.473739 # Altitude Set: 100 # Vehicle Depth:1343.138505 # Seafloor Depth:-1447.612244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 218.840665 meters # Minimum depth: 1447.612244 meters looking forward 400.000000 meters along route # Maximum depth: 1469.563004 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1347.612244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732918; longitude = -122.106428; captureRadius = 10; duration = 218; initialDepth = 1347.612244; finalDepth = 1343.138505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.807892 # Altitude Set: 100 # Vehicle Depth:1347.612244 # Seafloor Depth:-1459.420136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 215.734998 meters # Minimum depth: 1460.905275 meters looking forward 400.000000 meters along route # Maximum depth: 1483.366636 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1360.905275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732121; longitude = -122.108670; captureRadius = 10; duration = 215; initialDepth = 1360.905275; finalDepth = 1347.612244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.807892 # Altitude Set: 100 # Vehicle Depth:1360.905275 # Seafloor Depth:-1469.670668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 217.290497 meters # Minimum depth: 1472.548581 meters looking forward 400.000000 meters along route # Maximum depth: 1494.041470 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1372.548581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731335; longitude = -122.110880; captureRadius = 10; duration = 217; initialDepth = 1372.548581; finalDepth = 1360.905275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.097294 # Altitude Set: 100 # Vehicle Depth:1372.548581 # Seafloor Depth:-1486.645875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 217.292274 meters # Minimum depth: 1488.463231 meters looking forward 400.000000 meters along route # Maximum depth: 1503.202587 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1388.463231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730544; longitude = -122.113106; captureRadius = 10; duration = 217; initialDepth = 1388.463231; finalDepth = 1372.548581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.097294 # Altitude Set: 100 # Vehicle Depth:1388.463231 # Seafloor Depth:-1494.977022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 217.294052 meters # Minimum depth: 1496.897076 meters looking forward 400.000000 meters along route # Maximum depth: 1506.996389 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1396.897076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729752; longitude = -122.115332; captureRadius = 10; duration = 217; initialDepth = 1396.897076; finalDepth = 1388.463231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.513791 # Altitude Set: 100 # Vehicle Depth:1396.897076 # Seafloor Depth:-1502.709425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 232.407253 meters # Minimum depth: 1504.444085 meters looking forward 400.000000 meters along route # Maximum depth: 1506.996389 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1404.444085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728961; longitude = -122.117557; captureRadius = 10; duration = 232; initialDepth = 1404.444085; finalDepth = 1396.897076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.812349 # Altitude Set: 100 # Vehicle Depth:1404.444085 # Seafloor Depth:-1506.987638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 202.186184 meters # Minimum depth: 1496.531708 meters looking forward 400.000000 meters along route # Maximum depth: 1505.928210 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1396.531708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728114; longitude = -122.119938; captureRadius = 10; duration = 202; initialDepth = 1396.531708; finalDepth = 1404.444085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.243646 # Altitude Set: 100 # Vehicle Depth:1396.531708 # Seafloor Depth:-1504.775354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 226.520144 meters # Minimum depth: 1485.756207 meters looking forward 400.000000 meters along route # Maximum depth: 1502.567052 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1385.756207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727378; longitude = -122.122009; captureRadius = 10; duration = 226; initialDepth = 1385.756207; finalDepth = 1396.531708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.243646 # Altitude Set: 100 # Vehicle Depth:1385.756207 # Seafloor Depth:-1491.008728 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 26.594306 meters # Minimum depth: 1485.756207 meters looking forward 400.000000 meters along route # Maximum depth: 1502.567052 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1385.756207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726553; longitude = -122.124330; captureRadius = 10; duration = 26; initialDepth = 1385.756207; finalDepth = 1385.756207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.236469 # Altitude Set: 100 # Vehicle Depth:1385.756207 # Seafloor Depth:-1492.992676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 215.966517 meters # Minimum depth: 1485.756207 meters looking forward 400.000000 meters along route # Maximum depth: 1519.454907 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1385.756207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726333; longitude = -122.124209; captureRadius = 10; duration = 215; initialDepth = 1385.756207; finalDepth = 1385.756207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 112.483702 # Altitude Set: 100 # Vehicle Depth:1385.756207 # Seafloor Depth:-1498.239909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 215.967314 meters # Minimum depth: 1502.947160 meters looking forward 400.000000 meters along route # Maximum depth: 1557.289750 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1402.947160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724553; longitude = -122.123232; captureRadius = 10; duration = 215; initialDepth = 1402.947160; finalDepth = 1385.756207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.416778 # Altitude Set: 100 # Vehicle Depth:1402.94716 # Seafloor Depth:-1524.363938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 215.968112 meters # Minimum depth: 1533.859315 meters looking forward 400.000000 meters along route # Maximum depth: 1603.820899 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1433.859315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722772; longitude = -122.122255; captureRadius = 10; duration = 215; initialDepth = 1433.859315; finalDepth = 1402.947160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.895705 # Altitude Set: 100 # Vehicle Depth:1433.859315 # Seafloor Depth:-1567.755020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 231.749900 meters # Minimum depth: 1583.181972 meters looking forward 400.000000 meters along route # Maximum depth: 1628.268873 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1483.181972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720991; longitude = -122.121277; captureRadius = 10; duration = 231; initialDepth = 1483.181972; finalDepth = 1433.859315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 135.895819 # Altitude Set: 100 # Vehicle Depth:1483.181972 # Seafloor Depth:-1619.077791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 200.554907 meters # Minimum depth: 1621.863244 meters looking forward 400.000000 meters along route # Maximum depth: 1636.251744 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1521.863244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719081; longitude = -122.120229; captureRadius = 10; duration = 200; initialDepth = 1521.863244; finalDepth = 1483.181972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 135.895819 # Altitude Set: 100 # Vehicle Depth:1521.863244 # Seafloor Depth:-1628.085254 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 172.176257 meters # Minimum depth: 1627.537618 meters looking forward 400.000000 meters along route # Maximum depth: 1640.881470 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1527.537618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717427; longitude = -122.119321; captureRadius = 10; duration = 172; initialDepth = 1527.537618; finalDepth = 1521.863244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.343852 # Altitude Set: 100 # Vehicle Depth:1527.537618 # Seafloor Depth:-1640.881470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 217.319127 meters # Minimum depth: 1633.306459 meters looking forward 400.000000 meters along route # Maximum depth: 1648.526203 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1533.306459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718054; longitude = -122.117557; captureRadius = 10; duration = 217; initialDepth = 1533.306459; finalDepth = 1527.537618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.343852 # Altitude Set: 100 # Vehicle Depth:1533.306459 # Seafloor Depth:-1643.258227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 222.540062 meters # Minimum depth: 1632.706718 meters looking forward 400.000000 meters along route # Maximum depth: 1648.526203 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1532.706718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718845; longitude = -122.115332; captureRadius = 10; duration = 222; initialDepth = 1532.706718; finalDepth = 1533.306459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.27167 # Altitude Set: 100 # Vehicle Depth:1532.706718 # Seafloor Depth:-1643.978388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 212.092862 meters # Minimum depth: 1632.706718 meters looking forward 400.000000 meters along route # Maximum depth: 1636.306838 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1532.706718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719656; longitude = -122.113052; captureRadius = 10; duration = 212; initialDepth = 1532.706718; finalDepth = 1532.706718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.27167 # Altitude Set: 100 # Vehicle Depth:1532.706718 # Seafloor Depth:-1633.872026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 217.313797 meters # Minimum depth: 1632.886062 meters looking forward 400.000000 meters along route # Maximum depth: 1635.842293 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1532.886062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720428; longitude = -122.110880; captureRadius = 10; duration = 217; initialDepth = 1532.886062; finalDepth = 1532.706718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.366505 # Altitude Set: 100 # Vehicle Depth:1532.886062 # Seafloor Depth:-1635.252567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 217.312021 meters # Minimum depth: 1633.618034 meters looking forward 400.000000 meters along route # Maximum depth: 1638.487663 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1533.618034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721220; longitude = -122.108654; captureRadius = 10; duration = 217; initialDepth = 1533.618034; finalDepth = 1532.886062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.366505 # Altitude Set: 100 # Vehicle Depth:1533.618034 # Seafloor Depth:-1635.962057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 217.310244 meters # Minimum depth: 1612.999461 meters looking forward 400.000000 meters along route # Maximum depth: 1638.487663 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1512.999461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722011; longitude = -122.106428; captureRadius = 10; duration = 217; initialDepth = 1512.999461; finalDepth = 1533.618034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.258641 # Altitude Set: 100 # Vehicle Depth:1512.999461 # Seafloor Depth:-1630.258102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 236.107110 meters # Minimum depth: 1574.436568 meters looking forward 400.000000 meters along route # Maximum depth: 1624.925456 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1474.436568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722803; longitude = -122.104202; captureRadius = 10; duration = 236; initialDepth = 1474.436568; finalDepth = 1512.999461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.667288 # Altitude Set: 100 # Vehicle Depth:1474.436568 # Seafloor Depth:-1612.103856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 204.498654 meters # Minimum depth: 1562.837582 meters looking forward 400.000000 meters along route # Maximum depth: 1605.952089 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1462.837582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723662; longitude = -122.101784; captureRadius = 10; duration = 204; initialDepth = 1462.837582; finalDepth = 1474.436568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.667288 # Altitude Set: 100 # Vehicle Depth:1462.837582 # Seafloor Depth:-1572.927089 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 84.081811 meters # Minimum depth: 1562.837582 meters looking forward 400.000000 meters along route # Maximum depth: 1590.095868 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1462.837582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724407; longitude = -122.099689; captureRadius = 10; duration = 84; initialDepth = 1462.837582; finalDepth = 1462.837582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.089507 # Altitude Set: 100 # Vehicle Depth:1462.837582 # Seafloor Depth:-1565.543762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 201.031910 meters # Minimum depth: 1562.837582 meters looking forward 400.000000 meters along route # Maximum depth: 1594.089582 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1462.837582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723662; longitude = -122.099514; captureRadius = 10; duration = 201; initialDepth = 1462.837582; finalDepth = 1462.837582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.170104 # Altitude Set: 100 # Vehicle Depth:1462.837582 # Seafloor Depth:-1580.007686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 201.032027 meters # Minimum depth: 1586.772079 meters looking forward 400.000000 meters along route # Maximum depth: 1625.761462 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1486.772079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721882; longitude = -122.099097; captureRadius = 10; duration = 201; initialDepth = 1486.772079; finalDepth = 1462.837582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.170104 # Altitude Set: 100 # Vehicle Depth:1486.772079 # Seafloor Depth:-1592.782728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 201.032144 meters # Minimum depth: 1592.900469 meters looking forward 400.000000 meters along route # Maximum depth: 1656.192342 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1492.900469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720101; longitude = -122.098680; captureRadius = 10; duration = 201; initialDepth = 1492.900469; finalDepth = 1486.772079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 153.385608 # Altitude Set: 100 # Vehicle Depth:1492.900469 # Seafloor Depth:-1646.286077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 201.032261 meters # Minimum depth: 1625.491009 meters looking forward 400.000000 meters along route # Maximum depth: 1656.192342 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1525.491009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718320; longitude = -122.098262; captureRadius = 10; duration = 201; initialDepth = 1525.491009; finalDepth = 1492.900469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 153.385608 # Altitude Set: 100 # Vehicle Depth:1525.491009 # Seafloor Depth:-1638.436711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 248.339706 meters # Minimum depth: 1625.491009 meters looking forward 400.000000 meters along route # Maximum depth: 1721.447707 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1525.491009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716540; longitude = -122.097845; captureRadius = 10; duration = 248; initialDepth = 1525.491009; finalDepth = 1525.491009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.458032 # Altitude Set: 100 # Vehicle Depth:1525.491009 # Seafloor Depth:-1642.949041 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 104.811239 meters # Minimum depth: 1642.949041 meters looking forward 400.000000 meters along route # Maximum depth: 1725.206757 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1542.949041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714340; longitude = -122.097329; captureRadius = 10; duration = 104; initialDepth = 1542.949041; finalDepth = 1525.491009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 182.257716 # Altitude Set: 100 # Vehicle Depth:1542.949041 # Seafloor Depth:-1725.206757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.961742 meters # Minimum depth: 1649.606279 meters looking forward 400.000000 meters along route # Maximum depth: 1725.206757 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1549.606279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715204; longitude = -122.097804; captureRadius = 10; duration = 215; initialDepth = 1549.606279; finalDepth = 1542.949041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 182.257716 # Altitude Set: 100 # Vehicle Depth:1549.606279 # Seafloor Depth:-1707.717205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.960944 meters # Minimum depth: 1637.318372 meters looking forward 400.000000 meters along route # Maximum depth: 1696.925836 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1537.318372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716985; longitude = -122.098781; captureRadius = 10; duration = 215; initialDepth = 1537.318372; finalDepth = 1549.606279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 158.110926 # Altitude Set: 100 # Vehicle Depth:1537.318372 # Seafloor Depth:-1637.318372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.960146 meters # Minimum depth: 1629.122618 meters looking forward 400.000000 meters along route # Maximum depth: 1674.935252 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1529.122618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718765; longitude = -122.099758; captureRadius = 10; duration = 215; initialDepth = 1529.122618; finalDepth = 1537.318372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 145.812634 # Altitude Set: 100 # Vehicle Depth:1529.122618 # Seafloor Depth:-1674.935252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.959348 meters # Minimum depth: 1610.389527 meters looking forward 400.000000 meters along route # Maximum depth: 1672.160574 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1510.389527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720546; longitude = -122.100735; captureRadius = 10; duration = 215; initialDepth = 1510.389527; finalDepth = 1529.122618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 145.812634 # Altitude Set: 100 # Vehicle Depth:1510.389527 # Seafloor Depth:-1625.250983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.958550 meters # Minimum depth: 1576.640310 meters looking forward 400.000000 meters along route # Maximum depth: 1622.113241 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1476.640310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722327; longitude = -122.101712; captureRadius = 10; duration = 215; initialDepth = 1476.640310; finalDepth = 1510.389527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.451879 # Altitude Set: 100 # Vehicle Depth:1476.64031 # Seafloor Depth:-1607.092189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.957753 meters # Minimum depth: 1565.362017 meters looking forward 400.000000 meters along route # Maximum depth: 1594.892566 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1465.362017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724108; longitude = -122.102689; captureRadius = 10; duration = 215; initialDepth = 1465.362017; finalDepth = 1476.640310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.451879 # Altitude Set: 100 # Vehicle Depth:1465.362017 # Seafloor Depth:-1581.439411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 216.907569 meters # Minimum depth: 1528.095367 meters looking forward 400.000000 meters along route # Maximum depth: 1581.067166 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1428.095367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725888; longitude = -122.103666; captureRadius = 10; duration = 216; initialDepth = 1428.095367; finalDepth = 1465.362017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.110307 # Altitude Set: 100 # Vehicle Depth:1428.095367 # Seafloor Depth:-1554.205674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.005544 meters # Minimum depth: 1511.089458 meters looking forward 400.000000 meters along route # Maximum depth: 1541.232441 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1411.089458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727677; longitude = -122.104647; captureRadius = 10; duration = 215; initialDepth = 1411.089458; finalDepth = 1428.095367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.110307 # Altitude Set: 100 # Vehicle Depth:1411.089458 # Seafloor Depth:-1528.829953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.955360 meters # Minimum depth: 1488.824173 meters looking forward 400.000000 meters along route # Maximum depth: 1526.613544 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1388.824173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729450; longitude = -122.105620; captureRadius = 10; duration = 215; initialDepth = 1388.824173; finalDepth = 1411.089458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.469088 # Altitude Set: 100 # Vehicle Depth:1388.824173 # Seafloor Depth:-1509.293261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.954562 meters # Minimum depth: 1463.399100 meters looking forward 400.000000 meters along route # Maximum depth: 1505.835822 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1363.399100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731230; longitude = -122.106597; captureRadius = 10; duration = 215; initialDepth = 1363.399100; finalDepth = 1388.824173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.469088 # Altitude Set: 100 # Vehicle Depth:1363.3991 # Seafloor Depth:-1482.616910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.953765 meters # Minimum depth: 1451.593361 meters looking forward 400.000000 meters along route # Maximum depth: 1476.086404 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1351.593361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733011; longitude = -122.107574; captureRadius = 10; duration = 215; initialDepth = 1351.593361; finalDepth = 1363.399100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.21781 # Altitude Set: 100 # Vehicle Depth:1351.593361 # Seafloor Depth:-1458.508855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 219.487631 meters # Minimum depth: 1448.513903 meters looking forward 400.000000 meters along route # Maximum depth: 1455.934150 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1348.513903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734792; longitude = -122.108551; captureRadius = 10; duration = 219; initialDepth = 1348.513903; finalDepth = 1351.593361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.915494 # Altitude Set: 100 # Vehicle Depth:1348.513903 # Seafloor Depth:-1450.380458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 212.417506 meters # Minimum depth: 1447.291543 meters looking forward 400.000000 meters along route # Maximum depth: 1449.312002 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1347.291543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736602; longitude = -122.109544; captureRadius = 10; duration = 212; initialDepth = 1347.291543; finalDepth = 1348.513903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.866555 # Altitude Set: 100 # Vehicle Depth:1347.291543 # Seafloor Depth:-1448.520575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.951372 meters # Minimum depth: 1442.040620 meters looking forward 400.000000 meters along route # Maximum depth: 1448.502138 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1342.040620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738353; longitude = -122.110505; captureRadius = 10; duration = 215; initialDepth = 1342.040620; finalDepth = 1347.291543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.889858 # Altitude Set: 100 # Vehicle Depth:1342.04062 # Seafloor Depth:-1446.930478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.950575 meters # Minimum depth: 1417.650109 meters looking forward 400.000000 meters along route # Maximum depth: 1447.886229 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1317.650109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740134; longitude = -122.111482; captureRadius = 10; duration = 215; initialDepth = 1317.650109; finalDepth = 1342.040620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.154075 # Altitude Set: 100 # Vehicle Depth:1317.650109 # Seafloor Depth:-1437.804184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.949777 meters # Minimum depth: 1413.030183 meters looking forward 400.000000 meters along route # Maximum depth: 1429.855932 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1313.030183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741915; longitude = -122.112459; captureRadius = 10; duration = 215; initialDepth = 1313.030183; finalDepth = 1317.650109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.154075 # Altitude Set: 100 # Vehicle Depth:1313.030183 # Seafloor Depth:-1415.659443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 222.067599 meters # Minimum depth: 1366.319220 meters looking forward 400.000000 meters along route # Maximum depth: 1415.300753 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1266.319220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743695; longitude = -122.113437; captureRadius = 10; duration = 222; initialDepth = 1266.319220; finalDepth = 1313.030183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 144.026618 # Altitude Set: 100 # Vehicle Depth:1266.31922 # Seafloor Depth:-1410.345838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 209.829564 meters # Minimum depth: 1310.282755 meters looking forward 400.000000 meters along route # Maximum depth: 1409.071560 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1210.282755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745527; longitude = -122.114441; captureRadius = 10; duration = 209; initialDepth = 1210.282755; finalDepth = 1266.319220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 154.043588 # Altitude Set: 100 # Vehicle Depth:1210.282755 # Seafloor Depth:-1364.326343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 215.947385 meters # Minimum depth: 1293.055054 meters looking forward 400.000000 meters along route # Maximum depth: 1346.160547 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1193.055054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747257; longitude = -122.115391; captureRadius = 10; duration = 215; initialDepth = 1193.055054; finalDepth = 1210.282755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 154.043588 # Altitude Set: 100 # Vehicle Depth:1193.055054 # Seafloor Depth:-1308.461703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 219.256317 meters # Minimum depth: 1280.821855 meters looking forward 400.000000 meters along route # Maximum depth: 1302.111249 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1180.821855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749038; longitude = -122.116368; captureRadius = 10; duration = 219; initialDepth = 1180.821855; finalDepth = 1193.055054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 115.406649 # Altitude Set: 100 # Vehicle Depth:1180.821855 # Seafloor Depth:-1291.020258 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 200.000000 meters # Minimum depth: 1277.079803 meters looking forward 400.000000 meters along route # Maximum depth: 1310.225679 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1177.079803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750846; longitude = -122.117360; captureRadius = 10; duration = 200; initialDepth = 1177.079803; finalDepth = 1180.821855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.198403 # Altitude Set: 100 # Vehicle Depth:1177.079803 # Seafloor Depth:-1277.079803 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 76.923126 meters # Minimum depth: 1277.079803 meters looking forward 400.000000 meters along route # Maximum depth: 1313.911099 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1177.079803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750117; longitude = -122.119409; captureRadius = 10; duration = 76; initialDepth = 1177.079803; finalDepth = 1177.079803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 132.31482 # Altitude Set: 100 # Vehicle Depth:1177.079803 # Seafloor Depth:-1309.394623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.948812 meters # Minimum depth: 1299.156851 meters looking forward 400.000000 meters along route # Maximum depth: 1328.700173 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1199.156851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749483; longitude = -122.119061; captureRadius = 10; duration = 215; initialDepth = 1199.156851; finalDepth = 1177.079803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 132.31482 # Altitude Set: 100 # Vehicle Depth:1199.156851 # Seafloor Depth:-1318.443666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.949609 meters # Minimum depth: 1320.906324 meters looking forward 400.000000 meters along route # Maximum depth: 1332.697425 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1220.906324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747702; longitude = -122.118084; captureRadius = 10; duration = 215; initialDepth = 1220.906324; finalDepth = 1199.156851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.286815 # Altitude Set: 100 # Vehicle Depth:1220.906324 # Seafloor Depth:-1329.075761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.950406 meters # Minimum depth: 1328.833554 meters looking forward 400.000000 meters along route # Maximum depth: 1362.989581 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1228.833554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745921; longitude = -122.117107; captureRadius = 10; duration = 215; initialDepth = 1228.833554; finalDepth = 1220.906324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.169437 # Altitude Set: 100 # Vehicle Depth:1228.833554 # Seafloor Depth:-1332.733463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.951203 meters # Minimum depth: 1339.079876 meters looking forward 400.000000 meters along route # Maximum depth: 1402.970665 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1239.079876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744141; longitude = -122.116130; captureRadius = 10; duration = 215; initialDepth = 1239.079876; finalDepth = 1228.833554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.130051 # Altitude Set: 100 # Vehicle Depth:1239.079876 # Seafloor Depth:-1368.209927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.952001 meters # Minimum depth: 1386.461953 meters looking forward 400.000000 meters along route # Maximum depth: 1419.217818 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1286.461953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742360; longitude = -122.115153; captureRadius = 10; duration = 215; initialDepth = 1286.461953; finalDepth = 1239.079876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.130051 # Altitude Set: 100 # Vehicle Depth:1286.461953 # Seafloor Depth:-1404.540681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.952799 meters # Minimum depth: 1406.060560 meters looking forward 400.000000 meters along route # Maximum depth: 1432.565721 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1306.060560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740579; longitude = -122.114175; captureRadius = 10; duration = 215; initialDepth = 1306.060560; finalDepth = 1286.461953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.078728 # Altitude Set: 100 # Vehicle Depth:1306.06056 # Seafloor Depth:-1423.320464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 217.244918 meters # Minimum depth: 1426.808154 meters looking forward 400.000000 meters along route # Maximum depth: 1446.349214 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1326.808154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.113198; captureRadius = 10; duration = 217; initialDepth = 1326.808154; finalDepth = 1306.060560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.259904 # Altitude Set: 100 # Vehicle Depth:1326.808154 # Seafloor Depth:-1435.920618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 214.663071 meters # Minimum depth: 1438.269031 meters looking forward 400.000000 meters along route # Maximum depth: 1453.971068 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1338.269031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737007; longitude = -122.112215; captureRadius = 10; duration = 214; initialDepth = 1338.269031; finalDepth = 1326.808154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.112464 # Altitude Set: 100 # Vehicle Depth:1338.269031 # Seafloor Depth:-1446.384155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.955190 meters # Minimum depth: 1447.961564 meters looking forward 400.000000 meters along route # Maximum depth: 1459.851828 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1347.961564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735237; longitude = -122.111244; captureRadius = 10; duration = 215; initialDepth = 1347.961564; finalDepth = 1338.269031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.115124 # Altitude Set: 100 # Vehicle Depth:1347.961564 # Seafloor Depth:-1454.400202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.955989 meters # Minimum depth: 1455.304531 meters looking forward 400.000000 meters along route # Maximum depth: 1470.305340 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1355.304531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733456; longitude = -122.110267; captureRadius = 10; duration = 215; initialDepth = 1355.304531; finalDepth = 1347.961564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.438638 # Altitude Set: 100 # Vehicle Depth:1355.304531 # Seafloor Depth:-1460.553107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.956786 meters # Minimum depth: 1462.845968 meters looking forward 400.000000 meters along route # Maximum depth: 1500.935264 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1362.845968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731676; longitude = -122.109290; captureRadius = 10; duration = 215; initialDepth = 1362.845968; finalDepth = 1355.304531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.674479 # Altitude Set: 100 # Vehicle Depth:1362.845968 # Seafloor Depth:-1477.520447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 219.780309 meters # Minimum depth: 1482.277587 meters looking forward 400.000000 meters along route # Maximum depth: 1540.534507 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1382.277587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729895; longitude = -122.108313; captureRadius = 10; duration = 219; initialDepth = 1382.277587; finalDepth = 1362.845968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.397044 # Altitude Set: 100 # Vehicle Depth:1382.277587 # Seafloor Depth:-1508.674631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 212.135655 meters # Minimum depth: 1517.491676 meters looking forward 400.000000 meters along route # Maximum depth: 1558.326322 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1417.491676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728083; longitude = -122.107318; captureRadius = 10; duration = 212; initialDepth = 1417.491676; finalDepth = 1382.277587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.397044 # Altitude Set: 100 # Vehicle Depth:1417.491676 # Seafloor Depth:-1540.739341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.959179 meters # Minimum depth: 1542.988218 meters looking forward 400.000000 meters along route # Maximum depth: 1578.214240 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1442.988218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726333; longitude = -122.106359; captureRadius = 10; duration = 215; initialDepth = 1442.988218; finalDepth = 1417.491676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.247665 # Altitude Set: 100 # Vehicle Depth:1442.988218 # Seafloor Depth:-1560.254021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.959976 meters # Minimum depth: 1567.934806 meters looking forward 400.000000 meters along route # Maximum depth: 1605.377949 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1467.934806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724553; longitude = -122.105382; captureRadius = 10; duration = 215; initialDepth = 1467.934806; finalDepth = 1442.988218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.265803 # Altitude Set: 100 # Vehicle Depth:1467.934806 # Seafloor Depth:-1581.787381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.960774 meters # Minimum depth: 1587.612111 meters looking forward 400.000000 meters along route # Maximum depth: 1633.954067 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1487.612111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722772; longitude = -122.104404; captureRadius = 10; duration = 215; initialDepth = 1487.612111; finalDepth = 1467.934806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.810014 # Altitude Set: 100 # Vehicle Depth:1487.612111 # Seafloor Depth:-1613.422125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 222.315794 meters # Minimum depth: 1617.939006 meters looking forward 400.000000 meters along route # Maximum depth: 1675.938664 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1517.939006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720991; longitude = -122.103427; captureRadius = 10; duration = 222; initialDepth = 1517.939006; finalDepth = 1487.612111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.810014 # Altitude Set: 100 # Vehicle Depth:1517.939006 # Seafloor Depth:-1642.334654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 209.608147 meters # Minimum depth: 1653.745490 meters looking forward 400.000000 meters along route # Maximum depth: 1686.943786 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1553.745490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719158; longitude = -122.102421; captureRadius = 10; duration = 209; initialDepth = 1553.745490; finalDepth = 1517.939006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.395648 # Altitude Set: 100 # Vehicle Depth:1553.74549 # Seafloor Depth:-1676.588290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 215.963167 meters # Minimum depth: 1676.882242 meters looking forward 400.000000 meters along route # Maximum depth: 1688.912141 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1576.882242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717430; longitude = -122.101473; captureRadius = 10; duration = 215; initialDepth = 1576.882242; finalDepth = 1553.745490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.8428 # Altitude Set: 100 # Vehicle Depth:1576.882242 # Seafloor Depth:-1684.470424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 247.117336 meters # Minimum depth: 1676.882242 meters looking forward 400.000000 meters along route # Maximum depth: 1744.984086 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1576.882242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715649; longitude = -122.100496; captureRadius = 10; duration = 247; initialDepth = 1576.882242; finalDepth = 1576.882242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.580606 # Altitude Set: 100 # Vehicle Depth:1576.882242 # Seafloor Depth:-1698.462848 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 200.000000 meters # Minimum depth: 1717.066600 meters looking forward 400.000000 meters along route # Maximum depth: 1766.499146 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1617.066600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713612; longitude = -122.099378; captureRadius = 10; duration = 200; initialDepth = 1617.066600; finalDepth = 1576.882242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.589192 # Altitude Set: 100 # Vehicle Depth:1617.0666 # Seafloor Depth:-1747.655792 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 121.536277 meters # Minimum depth: 1744.937450 meters looking forward 400.000000 meters along route # Maximum depth: 1769.211182 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1644.937450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712883; longitude = -122.101426; captureRadius = 10; duration = 121; initialDepth = 1644.937450; finalDepth = 1617.066600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 130.589192 # Altitude Set: 100 # Vehicle Depth:1644.93745 # Seafloor Depth:-1769.211182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 213.902460 meters # Minimum depth: 1706.644668 meters looking forward 400.000000 meters along route # Maximum depth: 1769.211182 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1606.644668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713885; longitude = -122.101976; captureRadius = 10; duration = 213; initialDepth = 1606.644668; finalDepth = 1644.937450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.553449 # Altitude Set: 100 # Vehicle Depth:1606.644668 # Seafloor Depth:-1744.198117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.964792 meters # Minimum depth: 1699.489297 meters looking forward 400.000000 meters along route # Maximum depth: 1728.202017 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1599.489297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715649; longitude = -122.102944; captureRadius = 10; duration = 215; initialDepth = 1599.489297; finalDepth = 1606.644668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 137.553449 # Altitude Set: 100 # Vehicle Depth:1599.489297 # Seafloor Depth:-1708.444364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.963995 meters # Minimum depth: 1670.542238 meters looking forward 400.000000 meters along route # Maximum depth: 1706.971984 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1570.542238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717430; longitude = -122.103921; captureRadius = 10; duration = 215; initialDepth = 1570.542238; finalDepth = 1599.489297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.976808 # Altitude Set: 100 # Vehicle Depth:1570.542238 # Seafloor Depth:-1695.519046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.963197 meters # Minimum depth: 1654.628630 meters looking forward 400.000000 meters along route # Maximum depth: 1688.800008 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1554.628630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719211; longitude = -122.104898; captureRadius = 10; duration = 215; initialDepth = 1554.628630; finalDepth = 1570.542238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.976808 # Altitude Set: 100 # Vehicle Depth:1554.62863 # Seafloor Depth:-1664.233498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 220.504172 meters # Minimum depth: 1616.318094 meters looking forward 400.000000 meters along route # Maximum depth: 1661.971000 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1516.318094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720991; longitude = -122.105876; captureRadius = 10; duration = 220; initialDepth = 1516.318094; finalDepth = 1554.628630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.76623 # Altitude Set: 100 # Vehicle Depth:1516.318094 # Seafloor Depth:-1648.084324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 211.419829 meters # Minimum depth: 1581.963429 meters looking forward 400.000000 meters along route # Maximum depth: 1639.192000 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1481.963429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722809; longitude = -122.106873; captureRadius = 10; duration = 211; initialDepth = 1481.963429; finalDepth = 1516.318094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.52929 # Altitude Set: 100 # Vehicle Depth:1481.963429 # Seafloor Depth:-1615.492719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.960804 meters # Minimum depth: 1557.226606 meters looking forward 400.000000 meters along route # Maximum depth: 1604.236898 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1457.226606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724553; longitude = -122.107830; captureRadius = 10; duration = 215; initialDepth = 1457.226606; finalDepth = 1481.963429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.52929 # Altitude Set: 100 # Vehicle Depth:1457.226606 # Seafloor Depth:-1580.178119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.960007 meters # Minimum depth: 1539.266012 meters looking forward 400.000000 meters along route # Maximum depth: 1573.862439 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1439.266012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726333; longitude = -122.108807; captureRadius = 10; duration = 215; initialDepth = 1439.266012; finalDepth = 1457.226606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.951513 # Altitude Set: 100 # Vehicle Depth:1439.266012 # Seafloor Depth:-1554.018810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.959209 meters # Minimum depth: 1514.208344 meters looking forward 400.000000 meters along route # Maximum depth: 1549.269086 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1414.208344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728114; longitude = -122.109784; captureRadius = 10; duration = 215; initialDepth = 1414.208344; finalDepth = 1439.266012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.376103 # Altitude Set: 100 # Vehicle Depth:1414.208344 # Seafloor Depth:-1534.584447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 222.978734 meters # Minimum depth: 1482.289728 meters looking forward 400.000000 meters along route # Maximum depth: 1530.740395 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1382.289728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729895; longitude = -122.110761; captureRadius = 10; duration = 222; initialDepth = 1382.289728; finalDepth = 1414.208344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.27168 # Altitude Set: 100 # Vehicle Depth:1382.289728 # Seafloor Depth:-1506.561408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 208.937291 meters # Minimum depth: 1463.357176 meters looking forward 400.000000 meters along route # Maximum depth: 1500.349337 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1363.357176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731733; longitude = -122.111770; captureRadius = 10; duration = 208; initialDepth = 1363.357176; finalDepth = 1382.289728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.27168 # Altitude Set: 100 # Vehicle Depth:1363.357176 # Seafloor Depth:-1481.561919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.956816 meters # Minimum depth: 1453.840091 meters looking forward 400.000000 meters along route # Maximum depth: 1476.573609 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1353.840091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733456; longitude = -122.112716; captureRadius = 10; duration = 215; initialDepth = 1353.840091; finalDepth = 1363.357176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.204743 # Altitude Set: 100 # Vehicle Depth:1353.840091 # Seafloor Depth:-1462.208086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.956019 meters # Minimum depth: 1445.202874 meters looking forward 400.000000 meters along route # Maximum depth: 1459.254887 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1345.202874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735237; longitude = -122.113693; captureRadius = 10; duration = 215; initialDepth = 1345.202874; finalDepth = 1353.840091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.367995 # Altitude Set: 100 # Vehicle Depth:1345.202874 # Seafloor Depth:-1453.097156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.955222 meters # Minimum depth: 1431.223898 meters looking forward 400.000000 meters along route # Maximum depth: 1449.880722 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1331.223898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737018; longitude = -122.114670; captureRadius = 10; duration = 215; initialDepth = 1331.223898; finalDepth = 1345.202874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.715668 # Altitude Set: 100 # Vehicle Depth:1331.223898 # Seafloor Depth:-1440.939566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 225.453206 meters # Minimum depth: 1421.167742 meters looking forward 400.000000 meters along route # Maximum depth: 1436.980684 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.167742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.115647; captureRadius = 10; duration = 225; initialDepth = 1321.167742; finalDepth = 1331.223898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.715668 # Altitude Set: 100 # Vehicle Depth:1321.167742 # Seafloor Depth:-1428.326651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 206.454844 meters # Minimum depth: 1410.982232 meters looking forward 400.000000 meters along route # Maximum depth: 1426.020846 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1310.982232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740657; longitude = -122.116667; captureRadius = 10; duration = 206; initialDepth = 1310.982232; finalDepth = 1321.167742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.13556 # Altitude Set: 100 # Vehicle Depth:1310.982232 # Seafloor Depth:-1421.117792 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.952830 meters # Minimum depth: 1380.549911 meters looking forward 400.000000 meters along route # Maximum depth: 1419.422762 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1280.549911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742360; longitude = -122.117601; captureRadius = 10; duration = 215; initialDepth = 1280.549911; finalDepth = 1310.982232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.93619 # Altitude Set: 100 # Vehicle Depth:1280.549911 # Seafloor Depth:-1410.486101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.952032 meters # Minimum depth: 1372.088411 meters looking forward 400.000000 meters along route # Maximum depth: 1403.346226 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1272.088411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744141; longitude = -122.118578; captureRadius = 10; duration = 215; initialDepth = 1272.088411; finalDepth = 1280.549911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.93619 # Altitude Set: 100 # Vehicle Depth:1272.088411 # Seafloor Depth:-1375.932480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 215.951234 meters # Minimum depth: 1344.642716 meters looking forward 400.000000 meters along route # Maximum depth: 1373.025967 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1244.642716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745921; longitude = -122.119556; captureRadius = 10; duration = 215; initialDepth = 1244.642716; finalDepth = 1272.088411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.277116 # Altitude Set: 100 # Vehicle Depth:1244.642716 # Seafloor Depth:-1368.919832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 204.521278 meters # Minimum depth: 1314.063689 meters looking forward 400.000000 meters along route # Maximum depth: 1362.826109 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1214.063689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747702; longitude = -122.120533; captureRadius = 10; duration = 204; initialDepth = 1214.063689; finalDepth = 1244.642716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.277116 # Altitude Set: 100 # Vehicle Depth:1214.063689 # Seafloor Depth:-1335.465547 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 200.000000 meters # Minimum depth: 1296.787416 meters looking forward 400.000000 meters along route # Maximum depth: 1331.814287 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1196.787416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749388; longitude = -122.121458; captureRadius = 10; duration = 200; initialDepth = 1196.787416; finalDepth = 1214.063689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.401858 # Altitude Set: 100 # Vehicle Depth:1196.787416 # Seafloor Depth:-1309.754822 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 116.164801 meters # Minimum depth: 1294.158661 meters looking forward 400.000000 meters along route # Maximum depth: 1318.094743 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1194.158661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748660; longitude = -122.123507; captureRadius = 10; duration = 116; initialDepth = 1194.158661; finalDepth = 1196.787416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 112.967406 # Altitude Set: 100 # Vehicle Depth:1194.158661 # Seafloor Depth:-1294.158661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.952861 meters # Minimum depth: 1294.158661 meters looking forward 400.000000 meters along route # Maximum depth: 1339.646743 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1194.158661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747702; longitude = -122.122982; captureRadius = 10; duration = 215; initialDepth = 1194.158661; finalDepth = 1194.158661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.10603 # Altitude Set: 100 # Vehicle Depth:1194.158661 # Seafloor Depth:-1310.264691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.953658 meters # Minimum depth: 1319.273091 meters looking forward 400.000000 meters along route # Maximum depth: 1376.431633 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1219.273091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745921; longitude = -122.122005; captureRadius = 10; duration = 215; initialDepth = 1219.273091; finalDepth = 1194.158661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.48671 # Altitude Set: 100 # Vehicle Depth:1219.273091 # Seafloor Depth:-1339.759801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.954455 meters # Minimum depth: 1351.470695 meters looking forward 400.000000 meters along route # Maximum depth: 1413.596085 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1251.470695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744141; longitude = -122.121027; captureRadius = 10; duration = 215; initialDepth = 1251.470695; finalDepth = 1219.273091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.998867 # Altitude Set: 100 # Vehicle Depth:1251.470695 # Seafloor Depth:-1381.469562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.955253 meters # Minimum depth: 1392.340850 meters looking forward 400.000000 meters along route # Maximum depth: 1415.885307 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1292.340850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742360; longitude = -122.120050; captureRadius = 10; duration = 215; initialDepth = 1292.340850; finalDepth = 1251.470695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.998867 # Altitude Set: 100 # Vehicle Depth:1292.34085 # Seafloor Depth:-1412.736798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.956050 meters # Minimum depth: 1413.619995 meters looking forward 400.000000 meters along route # Maximum depth: 1424.530613 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1313.619995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740579; longitude = -122.119073; captureRadius = 10; duration = 215; initialDepth = 1313.619995; finalDepth = 1292.340850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.395948 # Altitude Set: 100 # Vehicle Depth:1313.619995 # Seafloor Depth:-1416.072262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 217.332629 meters # Minimum depth: 1418.325925 meters looking forward 400.000000 meters along route # Maximum depth: 1437.198623 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1318.325925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.118096; captureRadius = 10; duration = 217; initialDepth = 1318.325925; finalDepth = 1313.619995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.802387 # Altitude Set: 100 # Vehicle Depth:1318.325925 # Seafloor Depth:-1426.128312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 214.581863 meters # Minimum depth: 1427.923316 meters looking forward 400.000000 meters along route # Maximum depth: 1447.370042 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1327.923316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737006; longitude = -122.117112; captureRadius = 10; duration = 214; initialDepth = 1327.923316; finalDepth = 1318.325925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.370711 # Altitude Set: 100 # Vehicle Depth:1327.923316 # Seafloor Depth:-1437.294027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.958442 meters # Minimum depth: 1440.967321 meters looking forward 400.000000 meters along route # Maximum depth: 1460.826418 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.967321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735237; longitude = -122.116141; captureRadius = 10; duration = 215; initialDepth = 1340.967321; finalDepth = 1327.923316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.370711 # Altitude Set: 100 # Vehicle Depth:1340.967321 # Seafloor Depth:-1448.263386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.959239 meters # Minimum depth: 1450.830858 meters looking forward 400.000000 meters along route # Maximum depth: 1476.776462 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1350.830858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733456; longitude = -122.115164; captureRadius = 10; duration = 215; initialDepth = 1350.830858; finalDepth = 1340.967321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.045176 # Altitude Set: 100 # Vehicle Depth:1350.830858 # Seafloor Depth:-1463.876034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.960037 meters # Minimum depth: 1467.168948 meters looking forward 400.000000 meters along route # Maximum depth: 1497.270752 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1367.168948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731676; longitude = -122.114187; captureRadius = 10; duration = 215; initialDepth = 1367.168948; finalDepth = 1350.830858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.045176 # Altitude Set: 100 # Vehicle Depth:1367.168948 # Seafloor Depth:-1480.143717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 219.762577 meters # Minimum depth: 1485.737428 meters looking forward 400.000000 meters along route # Maximum depth: 1528.256235 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1385.737428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729895; longitude = -122.113210; captureRadius = 10; duration = 219; initialDepth = 1385.737428; finalDepth = 1367.168948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.063332 # Altitude Set: 100 # Vehicle Depth:1385.737428 # Seafloor Depth:-1501.800760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 212.159890 meters # Minimum depth: 1508.706286 meters looking forward 400.000000 meters along route # Maximum depth: 1547.723103 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1408.706286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728083; longitude = -122.112215; captureRadius = 10; duration = 212; initialDepth = 1408.706286; finalDepth = 1385.737428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.009474 # Altitude Set: 100 # Vehicle Depth:1408.706286 # Seafloor Depth:-1528.715760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.962430 meters # Minimum depth: 1535.219186 meters looking forward 400.000000 meters along route # Maximum depth: 1565.394520 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1435.219186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726333; longitude = -122.111255; captureRadius = 10; duration = 215; initialDepth = 1435.219186; finalDepth = 1408.706286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.009474 # Altitude Set: 100 # Vehicle Depth:1435.219186 # Seafloor Depth:-1548.955361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.963227 meters # Minimum depth: 1554.471069 meters looking forward 400.000000 meters along route # Maximum depth: 1594.416536 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1454.471069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724553; longitude = -122.110278; captureRadius = 10; duration = 215; initialDepth = 1454.471069; finalDepth = 1435.219186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.583213 # Altitude Set: 100 # Vehicle Depth:1454.471069 # Seafloor Depth:-1569.054282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.964025 meters # Minimum depth: 1575.462131 meters looking forward 400.000000 meters along route # Maximum depth: 1636.111238 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1475.462131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722772; longitude = -122.109301; captureRadius = 10; duration = 215; initialDepth = 1475.462131; finalDepth = 1454.471069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.273124 # Altitude Set: 100 # Vehicle Depth:1475.462131 # Seafloor Depth:-1606.735255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 222.192615 meters # Minimum depth: 1612.218322 meters looking forward 400.000000 meters along route # Maximum depth: 1647.898419 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1512.218322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720991; longitude = -122.108324; captureRadius = 10; duration = 222; initialDepth = 1512.218322; finalDepth = 1475.462131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.273124 # Altitude Set: 100 # Vehicle Depth:1512.218322 # Seafloor Depth:-1637.853151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 209.737828 meters # Minimum depth: 1635.635574 meters looking forward 400.000000 meters along route # Maximum depth: 1686.994019 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1535.635574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719159; longitude = -122.107318; captureRadius = 10; duration = 209; initialDepth = 1535.635574; finalDepth = 1512.218322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.634829 # Altitude Set: 100 # Vehicle Depth:1535.635574 # Seafloor Depth:-1648.997868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.966418 meters # Minimum depth: 1656.231262 meters looking forward 400.000000 meters along route # Maximum depth: 1721.504133 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1556.231262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717430; longitude = -122.106369; captureRadius = 10; duration = 215; initialDepth = 1556.231262; finalDepth = 1535.635574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.632857 # Altitude Set: 100 # Vehicle Depth:1556.231262 # Seafloor Depth:-1689.864119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 215.967216 meters # Minimum depth: 1700.543687 meters looking forward 400.000000 meters along route # Maximum depth: 1745.664654 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1600.543687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715649; longitude = -122.105392; captureRadius = 10; duration = 215; initialDepth = 1600.543687; finalDepth = 1556.231262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.632857 # Altitude Set: 100 # Vehicle Depth:1600.543687 # Seafloor Depth:-1726.731593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 207.798734 meters # Minimum depth: 1735.264698 meters looking forward 400.000000 meters along route # Maximum depth: 1750.528137 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1635.264698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713868; longitude = -122.104415; captureRadius = 10; duration = 207; initialDepth = 1635.264698; finalDepth = 1600.543687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.187906 # Altitude Set: 100 # Vehicle Depth:1635.264698 # Seafloor Depth:-1746.874218 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 200.000000 meters # Minimum depth: 1747.508031 meters looking forward 400.000000 meters along route # Maximum depth: 1770.084800 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1647.508031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712155; longitude = -122.103475; captureRadius = 10; duration = 200; initialDepth = 1647.508031; finalDepth = 1635.264698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.60952 # Altitude Set: 100 # Vehicle Depth:1647.508031 # Seafloor Depth:-1757.075562 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 80.160496 meters # Minimum depth: 1749.789688 meters looking forward 400.000000 meters along route # Maximum depth: 1775.802225 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1649.789688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711427; longitude = -122.105523; captureRadius = 10; duration = 80; initialDepth = 1649.789688; finalDepth = 1647.508031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.12468 # Altitude Set: 100 # Vehicle Depth:1649.789688 # Seafloor Depth:-1773.914368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 218.212559 meters # Minimum depth: 1748.965677 meters looking forward 400.000000 meters along route # Maximum depth: 1775.802225 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1648.965677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712088; longitude = -122.105886; captureRadius = 10; duration = 218; initialDepth = 1648.965677; finalDepth = 1649.789688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.298327 # Altitude Set: 100 # Vehicle Depth:1648.965677 # Seafloor Depth:-1774.264004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 213.725922 meters # Minimum depth: 1713.301495 meters looking forward 400.000000 meters along route # Maximum depth: 1771.586139 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1613.301495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713887; longitude = -122.106873; captureRadius = 10; duration = 213; initialDepth = 1613.301495; finalDepth = 1648.965677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 135.262684 # Altitude Set: 100 # Vehicle Depth:1613.301495 # Seafloor Depth:-1748.564179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.968043 meters # Minimum depth: 1686.638348 meters looking forward 400.000000 meters along route # Maximum depth: 1739.352196 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1586.638348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715649; longitude = -122.107840; captureRadius = 10; duration = 215; initialDepth = 1586.638348; finalDepth = 1613.301495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 135.262684 # Altitude Set: 100 # Vehicle Depth:1586.638348 # Seafloor Depth:-1710.398473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.967246 meters # Minimum depth: 1653.952335 meters looking forward 400.000000 meters along route # Maximum depth: 1702.599946 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1553.952335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717430; longitude = -122.108818; captureRadius = 10; duration = 215; initialDepth = 1553.952335; finalDepth = 1586.638348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 128.613766 # Altitude Set: 100 # Vehicle Depth:1553.952335 # Seafloor Depth:-1682.566101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.966449 meters # Minimum depth: 1635.913404 meters looking forward 400.000000 meters along route # Maximum depth: 1676.330140 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1535.913404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719211; longitude = -122.109795; captureRadius = 10; duration = 215; initialDepth = 1535.913404; finalDepth = 1553.952335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 128.613766 # Altitude Set: 100 # Vehicle Depth:1535.913404 # Seafloor Depth:-1643.634234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 220.581779 meters # Minimum depth: 1591.210951 meters looking forward 400.000000 meters along route # Maximum depth: 1638.586673 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1491.210951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720991; longitude = -122.110772; captureRadius = 10; duration = 220; initialDepth = 1491.210951; finalDepth = 1535.913404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 136.378929 # Altitude Set: 100 # Vehicle Depth:1491.210951 # Seafloor Depth:-1627.589880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 211.348725 meters # Minimum depth: 1564.625187 meters looking forward 400.000000 meters along route # Maximum depth: 1619.410139 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1464.625187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722810; longitude = -122.111770; captureRadius = 10; duration = 211; initialDepth = 1464.625187; finalDepth = 1491.210951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 136.378929 # Altitude Set: 100 # Vehicle Depth:1464.625187 # Seafloor Depth:-1590.652654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.964055 meters # Minimum depth: 1552.403002 meters looking forward 400.000000 meters along route # Maximum depth: 1584.977383 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1452.403002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724553; longitude = -122.112727; captureRadius = 10; duration = 215; initialDepth = 1452.403002; finalDepth = 1464.625187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.027467 # Altitude Set: 100 # Vehicle Depth:1452.403002 # Seafloor Depth:-1563.074145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.963258 meters # Minimum depth: 1534.410936 meters looking forward 400.000000 meters along route # Maximum depth: 1561.427887 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1434.410936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726333; longitude = -122.113704; captureRadius = 10; duration = 215; initialDepth = 1434.410936; finalDepth = 1452.403002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.605882 # Altitude Set: 100 # Vehicle Depth:1434.410936 # Seafloor Depth:-1551.016818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.962461 meters # Minimum depth: 1505.696495 meters looking forward 400.000000 meters along route # Maximum depth: 1545.234110 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1405.696495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728114; longitude = -122.114681; captureRadius = 10; duration = 215; initialDepth = 1405.696495; finalDepth = 1434.410936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.700545 # Altitude Set: 100 # Vehicle Depth:1405.696495 # Seafloor Depth:-1529.397040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 222.950912 meters # Minimum depth: 1476.358105 meters looking forward 400.000000 meters along route # Maximum depth: 1521.092473 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1376.358105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729895; longitude = -122.115658; captureRadius = 10; duration = 222; initialDepth = 1376.358105; finalDepth = 1405.696495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.700545 # Altitude Set: 100 # Vehicle Depth:1376.358105 # Seafloor Depth:-1499.955381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 208.971616 meters # Minimum depth: 1455.024698 meters looking forward 400.000000 meters along route # Maximum depth: 1494.342799 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1355.024698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731733; longitude = -122.116667; captureRadius = 10; duration = 208; initialDepth = 1355.024698; finalDepth = 1376.358105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.597276 # Altitude Set: 100 # Vehicle Depth:1355.024698 # Seafloor Depth:-1475.609006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.960069 meters # Minimum depth: 1445.161786 meters looking forward 400.000000 meters along route # Maximum depth: 1469.637802 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1345.161786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733456; longitude = -122.117613; captureRadius = 10; duration = 215; initialDepth = 1345.161786; finalDepth = 1355.024698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.584308 # Altitude Set: 100 # Vehicle Depth:1345.161786 # Seafloor Depth:-1454.039159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.959270 meters # Minimum depth: 1432.374536 meters looking forward 400.000000 meters along route # Maximum depth: 1450.018704 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1332.374536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735237; longitude = -122.118590; captureRadius = 10; duration = 215; initialDepth = 1332.374536; finalDepth = 1345.161786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.466889 # Altitude Set: 100 # Vehicle Depth:1332.374536 # Seafloor Depth:-1442.841425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.958474 meters # Minimum depth: 1421.344321 meters looking forward 400.000000 meters along route # Maximum depth: 1439.869373 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.344321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737018; longitude = -122.119567; captureRadius = 10; duration = 215; initialDepth = 1321.344321; finalDepth = 1332.374536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.466889 # Altitude Set: 100 # Vehicle Depth:1321.344321 # Seafloor Depth:-1428.604664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 225.319959 meters # Minimum depth: 1421.244320 meters looking forward 400.000000 meters along route # Maximum depth: 1428.190353 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.244320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738798; longitude = -122.120544; captureRadius = 10; duration = 225; initialDepth = 1321.244320; finalDepth = 1321.344321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.260343 # Altitude Set: 100 # Vehicle Depth:1321.24432 # Seafloor Depth:-1421.244320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 206.594596 meters # Minimum depth: 1421.602894 meters looking forward 400.000000 meters along route # Maximum depth: 1424.716337 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.602894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740656; longitude = -122.121564; captureRadius = 10; duration = 206; initialDepth = 1321.602894; finalDepth = 1321.244320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.95415 # Altitude Set: 100 # Vehicle Depth:1321.602894 # Seafloor Depth:-1423.557044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.956081 meters # Minimum depth: 1384.346375 meters looking forward 400.000000 meters along route # Maximum depth: 1425.086146 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1284.346375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742360; longitude = -122.122499; captureRadius = 10; duration = 215; initialDepth = 1284.346375; finalDepth = 1321.602894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 140.739771 # Altitude Set: 100 # Vehicle Depth:1284.346375 # Seafloor Depth:-1425.086146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 215.955284 meters # Minimum depth: 1341.723113 meters looking forward 400.000000 meters along route # Maximum depth: 1420.416968 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1241.723113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744141; longitude = -122.123476; captureRadius = 10; duration = 215; initialDepth = 1241.723113; finalDepth = 1284.346375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 140.739771 # Altitude Set: 100 # Vehicle Depth:1241.723113 # Seafloor Depth:-1375.999216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 243.756994 meters # Minimum depth: 1311.093309 meters looking forward 400.000000 meters along route # Maximum depth: 1360.583883 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1211.093309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745921; longitude = -122.124453; captureRadius = 10; duration = 243; initialDepth = 1211.093309; finalDepth = 1241.723113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 134.276103 # Altitude Set: 100 # Vehicle Depth:1211.093309 # Seafloor Depth:-1334.968546 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 200.000000 meters # Minimum depth: 1307.811340 meters looking forward 400.000000 meters along route # Maximum depth: 1327.941488 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1207.811340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747931; longitude = -122.125557; captureRadius = 10; duration = 200; initialDepth = 1207.811340; finalDepth = 1211.093309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.875237 # Altitude Set: 100 # Vehicle Depth:1207.81134 # Seafloor Depth:-1307.811340 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 101.401405 meters # Minimum depth: 1307.811340 meters looking forward 400.000000 meters along route # Maximum depth: 1328.534180 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1207.811340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747203; longitude = -122.127606; captureRadius = 10; duration = 101; initialDepth = 1207.811340; finalDepth = 1207.811340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.867585 # Altitude Set: 100 # Vehicle Depth:1207.81134 # Seafloor Depth:-1324.678925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.956711 meters # Minimum depth: 1316.705709 meters looking forward 400.000000 meters along route # Maximum depth: 1359.918965 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1216.705709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746366; longitude = -122.127147; captureRadius = 10; duration = 215; initialDepth = 1216.705709; finalDepth = 1207.811340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.355676 # Altitude Set: 100 # Vehicle Depth:1216.705709 # Seafloor Depth:-1335.061385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 230.683603 meters # Minimum depth: 1341.199787 meters looking forward 400.000000 meters along route # Maximum depth: 1447.286953 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1241.199787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744586; longitude = -122.126169; captureRadius = 10; duration = 230; initialDepth = 1241.199787; finalDepth = 1216.705709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 132.79406 # Altitude Set: 100 # Vehicle Depth:1241.199787 # Seafloor Depth:-1373.993847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 201.232212 meters # Minimum depth: 1389.677578 meters looking forward 400.000000 meters along route # Maximum depth: 1448.273182 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1289.677578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742684; longitude = -122.125126; captureRadius = 10; duration = 201; initialDepth = 1289.677578; finalDepth = 1241.199787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 157.794283 # Altitude Set: 100 # Vehicle Depth:1289.677578 # Seafloor Depth:-1447.471861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.959103 meters # Minimum depth: 1435.252945 meters looking forward 400.000000 meters along route # Maximum depth: 1448.273182 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1335.252945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741024; longitude = -122.124215; captureRadius = 10; duration = 215; initialDepth = 1335.252945; finalDepth = 1289.677578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 157.794283 # Altitude Set: 100 # Vehicle Depth:1335.252945 # Seafloor Depth:-1445.162441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.959900 meters # Minimum depth: 1422.753930 meters looking forward 400.000000 meters along route # Maximum depth: 1443.763263 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1322.753930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739244; longitude = -122.123238; captureRadius = 10; duration = 215; initialDepth = 1322.753930; finalDepth = 1335.252945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.909496 # Altitude Set: 100 # Vehicle Depth:1322.75393 # Seafloor Depth:-1432.415219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.960698 meters # Minimum depth: 1421.385468 meters looking forward 400.000000 meters along route # Maximum depth: 1428.998826 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.385468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737463; longitude = -122.122260; captureRadius = 10; duration = 215; initialDepth = 1321.385468; finalDepth = 1322.753930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.661289 # Altitude Set: 100 # Vehicle Depth:1321.385468 # Seafloor Depth:-1421.756171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.961495 meters # Minimum depth: 1421.385468 meters looking forward 400.000000 meters along route # Maximum depth: 1436.020102 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.385468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735682; longitude = -122.121283; captureRadius = 10; duration = 215; initialDepth = 1321.385468; finalDepth = 1321.385468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.906804 # Altitude Set: 100 # Vehicle Depth:1321.385468 # Seafloor Depth:-1425.292272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.962292 meters # Minimum depth: 1427.090758 meters looking forward 400.000000 meters along route # Maximum depth: 1454.060866 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1327.090758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733901; longitude = -122.120306; captureRadius = 10; duration = 215; initialDepth = 1327.090758; finalDepth = 1321.385468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.517708 # Altitude Set: 100 # Vehicle Depth:1327.090758 # Seafloor Depth:-1441.608466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.963090 meters # Minimum depth: 1443.912247 meters looking forward 400.000000 meters along route # Maximum depth: 1479.028730 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1343.912247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732121; longitude = -122.119328; captureRadius = 10; duration = 215; initialDepth = 1343.912247; finalDepth = 1327.090758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.517708 # Altitude Set: 100 # Vehicle Depth:1343.912247 # Seafloor Depth:-1454.236816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.963888 meters # Minimum depth: 1459.710080 meters looking forward 400.000000 meters along route # Maximum depth: 1507.915051 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1359.710080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730340; longitude = -122.118351; captureRadius = 10; duration = 215; initialDepth = 1359.710080; finalDepth = 1343.912247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.461979 # Altitude Set: 100 # Vehicle Depth:1359.71008 # Seafloor Depth:-1482.172059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.964684 meters # Minimum depth: 1490.153005 meters looking forward 400.000000 meters along route # Maximum depth: 1536.285743 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1390.153005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728559; longitude = -122.117374; captureRadius = 10; duration = 215; initialDepth = 1390.153005; finalDepth = 1359.710080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.341185 # Altitude Set: 100 # Vehicle Depth:1390.153005 # Seafloor Depth:-1513.494190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.965483 meters # Minimum depth: 1521.231170 meters looking forward 400.000000 meters along route # Maximum depth: 1565.934365 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1421.231170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726779; longitude = -122.116397; captureRadius = 10; duration = 215; initialDepth = 1421.231170; finalDepth = 1390.153005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.341185 # Altitude Set: 100 # Vehicle Depth:1421.23117 # Seafloor Depth:-1544.561526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 216.122642 meters # Minimum depth: 1549.051842 meters looking forward 400.000000 meters along route # Maximum depth: 1578.007499 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1449.051842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724998; longitude = -122.115419; captureRadius = 10; duration = 216; initialDepth = 1449.051842; finalDepth = 1421.231170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.141646 # Altitude Set: 100 # Vehicle Depth:1449.051842 # Seafloor Depth:-1574.193488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.810715 meters # Minimum depth: 1573.266100 meters looking forward 400.000000 meters along route # Maximum depth: 1605.182266 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1473.266100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723216; longitude = -122.114441; captureRadius = 10; duration = 215; initialDepth = 1473.266100; finalDepth = 1449.051842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.141646 # Altitude Set: 100 # Vehicle Depth:1473.2661 # Seafloor Depth:-1578.022820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.967875 meters # Minimum depth: 1584.664989 meters looking forward 400.000000 meters along route # Maximum depth: 1633.202896 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1484.664989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721437; longitude = -122.113465; captureRadius = 10; duration = 215; initialDepth = 1484.664989; finalDepth = 1473.266100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.909837 # Altitude Set: 100 # Vehicle Depth:1484.664989 # Seafloor Depth:-1608.574826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.968672 meters # Minimum depth: 1616.175360 meters looking forward 400.000000 meters along route # Maximum depth: 1644.490989 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1516.175360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719656; longitude = -122.112487; captureRadius = 10; duration = 215; initialDepth = 1516.175360; finalDepth = 1484.664989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 123.909837 # Altitude Set: 100 # Vehicle Depth:1516.17536 # Seafloor Depth:-1633.866562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 215.969471 meters # Minimum depth: 1632.256234 meters looking forward 400.000000 meters along route # Maximum depth: 1683.456566 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1532.256234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717875; longitude = -122.111510; captureRadius = 10; duration = 215; initialDepth = 1532.256234; finalDepth = 1516.175360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 127.131861 # Altitude Set: 100 # Vehicle Depth:1532.256234 # Seafloor Depth:-1659.388095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 218.447220 meters # Minimum depth: 1668.826120 meters looking forward 400.000000 meters along route # Maximum depth: 1712.668501 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1568.826120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716094; longitude = -122.110533; captureRadius = 10; duration = 218; initialDepth = 1568.826120; finalDepth = 1532.256234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 127.131861 # Altitude Set: 100 # Vehicle Depth:1568.82612 # Seafloor Depth:-1687.254085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 213.494113 meters # Minimum depth: 1695.171769 meters looking forward 400.000000 meters along route # Maximum depth: 1743.814887 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1595.171769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714293; longitude = -122.109544; captureRadius = 10; duration = 213; initialDepth = 1595.171769; finalDepth = 1568.826120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.427965 # Altitude Set: 100 # Vehicle Depth:1595.171769 # Seafloor Depth:-1712.901501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 222.488975 meters # Minimum depth: 1719.108781 meters looking forward 400.000000 meters along route # Maximum depth: 1790.389193 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1619.108781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712533; longitude = -122.108578; captureRadius = 10; duration = 222; initialDepth = 1619.108781; finalDepth = 1595.171769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.476782 # Altitude Set: 100 # Vehicle Depth:1619.108781 # Seafloor Depth:-1745.585563 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 200.000000 meters # Minimum depth: 1756.225385 meters looking forward 400.000000 meters along route # Maximum depth: 1795.278595 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1656.225385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710699; longitude = -122.107571; captureRadius = 10; duration = 200; initialDepth = 1656.225385; finalDepth = 1619.108781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 139.05321 # Altitude Set: 100 # Vehicle Depth:1656.225385 # Seafloor Depth:-1795.278595 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 94.857295 meters # Minimum depth: 1764.558717 meters looking forward 400.000000 meters along route # Maximum depth: 1795.278595 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1664.558717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709970; longitude = -122.109620; captureRadius = 10; duration = 94; initialDepth = 1664.558717; finalDepth = 1656.225385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 139.05321 # Altitude Set: 100 # Vehicle Depth:1664.558717 # Seafloor Depth:-1774.181152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.973489 meters # Minimum depth: 1744.546687 meters looking forward 400.000000 meters along route # Maximum depth: 1779.672542 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1644.546687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710752; longitude = -122.110049; captureRadius = 10; duration = 215; initialDepth = 1644.546687; finalDepth = 1664.558717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.274152 # Altitude Set: 100 # Vehicle Depth:1644.546687 # Seafloor Depth:-1761.820839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.972691 meters # Minimum depth: 1716.802849 meters looking forward 400.000000 meters along route # Maximum depth: 1757.120124 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1616.802849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712533; longitude = -122.111026; captureRadius = 10; duration = 215; initialDepth = 1616.802849; finalDepth = 1644.546687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.118051 # Altitude Set: 100 # Vehicle Depth:1616.802849 # Seafloor Depth:-1738.920900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.971894 meters # Minimum depth: 1682.085814 meters looking forward 400.000000 meters along route # Maximum depth: 1731.983105 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1582.085814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714314; longitude = -122.112004; captureRadius = 10; duration = 215; initialDepth = 1582.085814; finalDepth = 1616.802849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 128.968922 # Altitude Set: 100 # Vehicle Depth:1582.085814 # Seafloor Depth:-1711.054736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 224.314871 meters # Minimum depth: 1648.032675 meters looking forward 400.000000 meters along route # Maximum depth: 1700.837915 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1548.032675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716094; longitude = -122.112981; captureRadius = 10; duration = 224; initialDepth = 1548.032675; finalDepth = 1582.085814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 128.968922 # Altitude Set: 100 # Vehicle Depth:1548.032675 # Seafloor Depth:-1676.525583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 207.626524 meters # Minimum depth: 1633.865549 meters looking forward 400.000000 meters along route # Maximum depth: 1671.002387 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1533.865549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717944; longitude = -122.113996; captureRadius = 10; duration = 207; initialDepth = 1533.865549; finalDepth = 1548.032675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 128.492908 # Altitude Set: 100 # Vehicle Depth:1533.865549 # Seafloor Depth:-1647.378409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.969502 meters # Minimum depth: 1633.865549 meters looking forward 400.000000 meters along route # Maximum depth: 1644.335198 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1533.865549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719656; longitude = -122.114936; captureRadius = 10; duration = 215; initialDepth = 1533.865549; finalDepth = 1533.865549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.51286 # Altitude Set: 100 # Vehicle Depth:1533.865549 # Seafloor Depth:-1635.635781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.968703 meters # Minimum depth: 1592.060218 meters looking forward 400.000000 meters along route # Maximum depth: 1644.335198 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1492.060218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721437; longitude = -122.115913; captureRadius = 10; duration = 215; initialDepth = 1492.060218; finalDepth = 1533.865549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 151.453735 # Altitude Set: 100 # Vehicle Depth:1492.060218 # Seafloor Depth:-1643.513953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.967906 meters # Minimum depth: 1560.579043 meters looking forward 400.000000 meters along route # Maximum depth: 1627.946783 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1460.579043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723217; longitude = -122.116890; captureRadius = 10; duration = 215; initialDepth = 1460.579043; finalDepth = 1492.060218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 151.453735 # Altitude Set: 100 # Vehicle Depth:1460.579043 # Seafloor Depth:-1585.048390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 226.578561 meters # Minimum depth: 1532.234794 meters looking forward 400.000000 meters along route # Maximum depth: 1578.009713 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1432.234794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724998; longitude = -122.117868; captureRadius = 10; duration = 226; initialDepth = 1432.234794; finalDepth = 1460.579043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 124.469347 # Altitude Set: 100 # Vehicle Depth:1432.234794 # Seafloor Depth:-1553.910016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 205.354859 meters # Minimum depth: 1500.504918 meters looking forward 400.000000 meters along route # Maximum depth: 1548.693264 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1400.504918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726866; longitude = -122.118893; captureRadius = 10; duration = 205; initialDepth = 1400.504918; finalDepth = 1432.234794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.968395 # Altitude Set: 100 # Vehicle Depth:1400.504918 # Seafloor Depth:-1530.473313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.965514 meters # Minimum depth: 1469.697893 meters looking forward 400.000000 meters along route # Maximum depth: 1523.628041 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1369.697893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728559; longitude = -122.119822; captureRadius = 10; duration = 215; initialDepth = 1369.697893; finalDepth = 1400.504918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.968395 # Altitude Set: 100 # Vehicle Depth:1369.697893 # Seafloor Depth:-1499.312927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.964716 meters # Minimum depth: 1443.328292 meters looking forward 400.000000 meters along route # Maximum depth: 1490.469367 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1343.328292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730340; longitude = -122.120800; captureRadius = 10; duration = 215; initialDepth = 1343.328292; finalDepth = 1369.697893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 129.615034 # Altitude Set: 100 # Vehicle Depth:1343.328292 # Seafloor Depth:-1465.311902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.963919 meters # Minimum depth: 1427.124270 meters looking forward 400.000000 meters along route # Maximum depth: 1456.983602 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1327.124270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732121; longitude = -122.121777; captureRadius = 10; duration = 215; initialDepth = 1327.124270; finalDepth = 1343.328292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.98361 # Altitude Set: 100 # Vehicle Depth:1327.12427 # Seafloor Depth:-1439.181428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 228.842167 meters # Minimum depth: 1421.295875 meters looking forward 400.000000 meters along route # Maximum depth: 1434.768948 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.295875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733901; longitude = -122.122754; captureRadius = 10; duration = 228; initialDepth = 1321.295875; finalDepth = 1327.124270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 112.057158 # Altitude Set: 100 # Vehicle Depth:1321.295875 # Seafloor Depth:-1424.852744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 203.083278 meters # Minimum depth: 1421.295875 meters looking forward 400.000000 meters along route # Maximum depth: 1440.267192 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1321.295875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735788; longitude = -122.123790; captureRadius = 10; duration = 203; initialDepth = 1321.295875; finalDepth = 1321.295875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.852048 # Altitude Set: 100 # Vehicle Depth:1321.295875 # Seafloor Depth:-1425.147923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.961527 meters # Minimum depth: 1429.248516 meters looking forward 400.000000 meters along route # Maximum depth: 1443.677268 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1329.248516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737463; longitude = -122.124709; captureRadius = 10; duration = 215; initialDepth = 1329.248516; finalDepth = 1321.295875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.27016 # Altitude Set: 100 # Vehicle Depth:1329.248516 # Seafloor Depth:-1440.518676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.960730 meters # Minimum depth: 1440.319298 meters looking forward 400.000000 meters along route # Maximum depth: 1443.677268 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.319298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739244; longitude = -122.125686; captureRadius = 10; duration = 215; initialDepth = 1340.319298; finalDepth = 1329.248516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.27016 # Altitude Set: 100 # Vehicle Depth:1340.319298 # Seafloor Depth:-1443.084074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 215.959932 meters # Minimum depth: 1440.319298 meters looking forward 400.000000 meters along route # Maximum depth: 1451.686171 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1340.319298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741024; longitude = -122.126664; captureRadius = 10; duration = 215; initialDepth = 1340.319298; finalDepth = 1340.319298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.063969 # Altitude Set: 100 # Vehicle Depth:1340.319298 # Seafloor Depth:-1449.383267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 231.105692 meters # Minimum depth: 1379.863788 meters looking forward 400.000000 meters along route # Maximum depth: 1451.686171 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1279.863788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742805; longitude = -122.127641; captureRadius = 10; duration = 231; initialDepth = 1279.863788; finalDepth = 1340.319298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 166.771923 # Altitude Set: 100 # Vehicle Depth:1279.863788 # Seafloor Depth:-1446.635711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 213.840478 meters # Minimum depth: 1334.310286 meters looking forward 400.000000 meters along route # Maximum depth: 1442.782806 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1234.310286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744711; longitude = -122.128687; captureRadius = 10; duration = 213; initialDepth = 1234.310286; finalDepth = 1279.863788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 166.771923 # Altitude Set: 100 # Vehicle Depth:1234.310286 # Seafloor Depth:-1372.893879 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 200.000000 meters # Minimum depth: 1331.386536 meters looking forward 400.000000 meters along route # Maximum depth: 1357.328622 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1231.386536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746474; longitude = -122.129655; captureRadius = 10; duration = 200; initialDepth = 1231.386536; finalDepth = 1234.310286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 138.583593 # Altitude Set: 100 # Vehicle Depth:1231.386536 # Seafloor Depth:-1331.386536 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 86.620070 meters # Minimum depth: 1331.386536 meters looking forward 400.000000 meters along route # Maximum depth: 1340.973598 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1231.386536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745745; longitude = -122.131704; captureRadius = 10; duration = 86; initialDepth = 1231.386536; finalDepth = 1231.386536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.408203 # Altitude Set: 100 # Vehicle Depth:1231.386536 # Seafloor Depth:-1331.794739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.960563 meters # Minimum depth: 1331.794739 meters looking forward 400.000000 meters along route # Maximum depth: 1346.663389 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1231.794739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745031; longitude = -122.131312; captureRadius = 10; duration = 215; initialDepth = 1231.794739; finalDepth = 1231.386536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.642127 # Altitude Set: 100 # Vehicle Depth:1231.794739 # Seafloor Depth:-1336.436866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.961360 meters # Minimum depth: 1339.958046 meters looking forward 400.000000 meters along route # Maximum depth: 1356.477948 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1239.958046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743250; longitude = -122.130334; captureRadius = 10; duration = 215; initialDepth = 1239.958046; finalDepth = 1231.794739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.878747 # Altitude Set: 100 # Vehicle Depth:1239.958046 # Seafloor Depth:-1347.836793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.962157 meters # Minimum depth: 1351.376754 meters looking forward 400.000000 meters along route # Maximum depth: 1359.505249 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1251.376754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741470; longitude = -122.129357; captureRadius = 10; duration = 215; initialDepth = 1251.376754; finalDepth = 1239.958046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.878747 # Altitude Set: 100 # Vehicle Depth:1251.376754 # Seafloor Depth:-1359.177785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 227.177134 meters # Minimum depth: 1355.919400 meters looking forward 400.000000 meters along route # Maximum depth: 1378.228171 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1255.919400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739689; longitude = -122.128380; captureRadius = 10; duration = 227; initialDepth = 1255.919400; finalDepth = 1251.376754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.801031 # Altitude Set: 100 # Vehicle Depth:1255.9194 # Seafloor Depth:-1358.774577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 204.749572 meters # Minimum depth: 1362.374710 meters looking forward 400.000000 meters along route # Maximum depth: 1411.675265 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1262.374710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737816; longitude = -122.127351; captureRadius = 10; duration = 204; initialDepth = 1262.374710; finalDepth = 1255.919400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.978122 # Altitude Set: 100 # Vehicle Depth:1262.37471 # Seafloor Depth:-1379.352832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.964549 meters # Minimum depth: 1382.791924 meters looking forward 400.000000 meters along route # Maximum depth: 1428.141173 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1282.791924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736127; longitude = -122.126425; captureRadius = 10; duration = 215; initialDepth = 1282.791924; finalDepth = 1262.374710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.112998 # Altitude Set: 100 # Vehicle Depth:1282.791924 # Seafloor Depth:-1413.904922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.965346 meters # Minimum depth: 1417.883914 meters looking forward 400.000000 meters along route # Maximum depth: 1428.141173 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1317.883914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734347; longitude = -122.125447; captureRadius = 10; duration = 215; initialDepth = 1317.883914; finalDepth = 1282.791924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.112998 # Altitude Set: 100 # Vehicle Depth:1317.883914 # Seafloor Depth:-1425.347006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.966143 meters # Minimum depth: 1417.883914 meters looking forward 400.000000 meters along route # Maximum depth: 1433.802472 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1317.883914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732566; longitude = -122.124470; captureRadius = 10; duration = 215; initialDepth = 1317.883914; finalDepth = 1317.883914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.463092 # Altitude Set: 100 # Vehicle Depth:1317.883914 # Seafloor Depth:-1418.220946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 229.396463 meters # Minimum depth: 1420.454170 meters looking forward 400.000000 meters along route # Maximum depth: 1469.101293 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1320.454170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730785; longitude = -122.123493; captureRadius = 10; duration = 229; initialDepth = 1320.454170; finalDepth = 1317.883914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.769554 # Altitude Set: 100 # Vehicle Depth:1320.45417 # Seafloor Depth:-1439.223724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 202.538217 meters # Minimum depth: 1443.970466 meters looking forward 400.000000 meters along route # Maximum depth: 1499.199930 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1343.970466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728894; longitude = -122.122454; captureRadius = 10; duration = 202; initialDepth = 1343.970466; finalDepth = 1320.454170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 127.106558 # Altitude Set: 100 # Vehicle Depth:1343.970466 # Seafloor Depth:-1471.077024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.968535 meters # Minimum depth: 1477.227614 meters looking forward 400.000000 meters along route # Maximum depth: 1521.685593 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1377.227614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727224; longitude = -122.121538; captureRadius = 10; duration = 215; initialDepth = 1377.227614; finalDepth = 1343.970466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 127.106558 # Altitude Set: 100 # Vehicle Depth:1377.227614 # Seafloor Depth:-1500.046760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.969333 meters # Minimum depth: 1506.701166 meters looking forward 400.000000 meters along route # Maximum depth: 1538.372508 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1406.701166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725443; longitude = -122.120560; captureRadius = 10; duration = 215; initialDepth = 1406.701166; finalDepth = 1377.227614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.819146 # Altitude Set: 100 # Vehicle Depth:1406.701166 # Seafloor Depth:-1523.164260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.970131 meters # Minimum depth: 1526.498883 meters looking forward 400.000000 meters along route # Maximum depth: 1579.047556 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1426.498883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723662; longitude = -122.119583; captureRadius = 10; duration = 215; initialDepth = 1426.498883; finalDepth = 1406.701166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.927611 # Altitude Set: 100 # Vehicle Depth:1426.498883 # Seafloor Depth:-1548.426494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 231.615874 meters # Minimum depth: 1554.979294 meters looking forward 400.000000 meters along route # Maximum depth: 1634.122528 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1454.979294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721882; longitude = -122.118606; captureRadius = 10; duration = 231; initialDepth = 1454.979294; finalDepth = 1426.498883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 133.782411 # Altitude Set: 100 # Vehicle Depth:1454.979294 # Seafloor Depth:-1588.761705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 200.326780 meters # Minimum depth: 1596.180652 meters looking forward 400.000000 meters along route # Maximum depth: 1646.853447 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1496.180652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719972; longitude = -122.117557; captureRadius = 10; duration = 200; initialDepth = 1496.180652; finalDepth = 1454.979294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 139.466308 # Altitude Set: 100 # Vehicle Depth:1496.180652 # Seafloor Depth:-1635.646960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.972523 meters # Minimum depth: 1638.586849 meters looking forward 400.000000 meters along route # Maximum depth: 1674.827751 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1538.586849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718320; longitude = -122.116651; captureRadius = 10; duration = 215; initialDepth = 1538.586849; finalDepth = 1496.180652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 139.466308 # Altitude Set: 100 # Vehicle Depth:1538.586849 # Seafloor Depth:-1647.363805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.973321 meters # Minimum depth: 1659.570213 meters looking forward 400.000000 meters along route # Maximum depth: 1676.624912 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1559.570213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716540; longitude = -122.115674; captureRadius = 10; duration = 215; initialDepth = 1559.570213; finalDepth = 1538.586849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.819607 # Altitude Set: 100 # Vehicle Depth:1559.570213 # Seafloor Depth:-1674.389820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 215.974119 meters # Minimum depth: 1671.729773 meters looking forward 400.000000 meters along route # Maximum depth: 1699.138906 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1571.729773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714759; longitude = -122.114696; captureRadius = 10; duration = 215; initialDepth = 1571.729773; finalDepth = 1559.570213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.819607 # Altitude Set: 100 # Vehicle Depth:1571.729773 # Seafloor Depth:-1681.641391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 233.835367 meters # Minimum depth: 1686.796143 meters looking forward 400.000000 meters along route # Maximum depth: 1732.200096 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1586.796143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712978; longitude = -122.113719; captureRadius = 10; duration = 233; initialDepth = 1586.796143; finalDepth = 1571.729773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.775851 # Altitude Set: 100 # Vehicle Depth:1586.796143 # Seafloor Depth:-1703.571994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 219.336691 meters # Minimum depth: 1708.764036 meters looking forward 400.000000 meters along route # Maximum depth: 1759.641246 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1608.764036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711050; longitude = -122.112661; captureRadius = 10; duration = 219; initialDepth = 1608.764036; finalDepth = 1586.796143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.649237 # Altitude Set: 100 # Vehicle Depth:1608.764036 # Seafloor Depth:-1735.413273 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; 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: 153.659273 # Altitude Set: 100 # Vehicle Depth:1608.764036 # Seafloor Depth:-1762.423309 # 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 = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1708.764036 meters looking forward 400.000000 meters along route # Maximum depth: 1762.423309 meters looking forward 400.000000 meters along route # Vehicle depth: 1608.764036 meters behavior waypoint { latitude = 36.709242; longitude = -122.111668; captureRadius = 10; duration = 500; depth = 1608.764036; speed = MISSION_SPEED; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1608.764036 meters set by local depth and desired altitude behavior descend { duration = 8915; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1708.764036 meters looking forward 400.000000 meters along route # Maximum depth: 1762.423309 meters looking forward 400.000000 meters along route # Vehicle depth: 100.000000 meters behavior waypoint { latitude = 36.709242; longitude = -122.111668; captureRadius = 10; duration = 500; depth = 100.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 335.637888; 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 = 335.637888; 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, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 70; 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; } # ####################################################### #######################################################