# 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: MARSSurvey20051019.rte # Mission File: MARSSurvey20051019.cfg # Distance: 37718.344238 (m) # Estimated Time: 27885 (s) 7.746 (hr) # Abort Time: 55771 (s) # Way Points: 21 # Route Points: 682 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 49 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 500 (m) # Abort Vehicle Depth: 525 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 50 (m) # Time to First Waypoint: 1000 (s) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.140148 36.841052 -110.954549 0.000000 3 # 1 -122.152731 36.836422 -137.037018 1234.023445 1 # 2 -122.176003 36.804061 -441.595421 5380.955787 4 # 3 -122.177456 36.804742 -417.444374 5530.986375 3 # 4 -122.153857 36.837301 -138.201801 9711.515797 4 # 5 -122.155311 36.837982 -141.481998 9861.575753 3 # 6 -122.178909 36.805423 -413.594879 14042.050242 4 # 7 -122.180362 36.806103 -415.023155 14192.022953 3 # 8 -122.156204 36.839447 -142.136116 18472.871813 4 # 9 -122.157212 36.840679 -142.373886 18636.453377 3 # 10 -122.181815 36.806784 -418.076385 22990.085107 4 # 11 -122.183268 36.807464 -420.164726 23140.055774 3 # 12 -122.157884 36.842695 -138.399921 27656.808619 4 # 13 -122.158743 36.844077 -139.677647 27828.192019 3 # 14 -122.175807 36.820516 -387.614807 30852.690215 4 # 15 -122.166173 36.814691 -401.702614 31927.854192 3 # 16 -122.164045 36.817940 -392.708290 32335.212868 1 # 17 -122.175209 36.824138 -361.089973 33545.269397 4 # 18 -122.164941 36.838215 -279.672668 35355.565006 3 # 19 -122.154150 36.831195 -164.949931 36593.477720 1 # 20 -122.141642 36.832502 -120.215230 37718.344238 1 # # A total of 682 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 55771; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 500.000000; abortDepth = 525.000000; minAltitude = 49.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 60; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 10.000000; pitch = 20.000000; speed = 1.600000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 13.431144 meters # Minimum depth: 120.215230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.215230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832502; longitude = -122.141642; captureRadius = 10; duration = 17; initialDepth = 70.215230; finalDepth = 70.215230; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50 # Altitude Set: 50 # Vehicle Depth:70.21523 # Seafloor Depth:-120.215230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 65.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366815 meters # Minimum depth: 120.215230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.215230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832486; longitude = -122.141791; captureRadius = 10; duration = 67; initialDepth = 70.215230; finalDepth = 70.215230; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.577015 # Altitude Set: 50.577015 # Vehicle Depth:70.21523 # Seafloor Depth:-120.792245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 121.38; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 65.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366847 meters # Minimum depth: 120.428155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.428155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832428; longitude = -122.142351; captureRadius = 10; duration = 67; initialDepth = 70.428155; finalDepth = 70.215230; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.577015 # Altitude Set: 50.577015 # Vehicle Depth:70.428155 # Seafloor Depth:-120.522751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 121.38; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 65.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366880 meters # Minimum depth: 120.428155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.428155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832369; longitude = -122.142911; captureRadius = 10; duration = 67; initialDepth = 70.428155; finalDepth = 70.428155; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.704914 # Altitude Set: 50.704914 # Vehicle Depth:70.428155 # Seafloor Depth:-121.133069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 121.69; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 65.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366914 meters # Minimum depth: 121.843996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 71.843996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832311; longitude = -122.143471; captureRadius = 10; duration = 67; initialDepth = 71.843996; finalDepth = 70.428155; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.47799 # Altitude Set: 52.47799 # Vehicle Depth:71.843996 # Seafloor Depth:-124.321986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.36; MB_Bottom_Detect_Filter_Max_Range = 125.95; MB_Bottom_Detect_Filter_Min_Depth = 39.36; MB_Bottom_Detect_Filter_Max_Depth = 68.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366946 meters # Minimum depth: 123.649598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 73.649598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832252; longitude = -122.144031; captureRadius = 10; duration = 67; initialDepth = 73.649598; finalDepth = 71.843996; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.756654 # Altitude Set: 52.756654 # Vehicle Depth:73.649598 # Seafloor Depth:-126.406252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 126.62; MB_Bottom_Detect_Filter_Min_Depth = 39.57; MB_Bottom_Detect_Filter_Max_Depth = 68.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.366979 meters # Minimum depth: 126.945190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 76.945190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832194; longitude = -122.144591; captureRadius = 10; duration = 67; initialDepth = 76.945190; finalDepth = 73.649598; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.756654 # Altitude Set: 52.756654 # Vehicle Depth:76.94519 # Seafloor Depth:-127.647802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 126.62; MB_Bottom_Detect_Filter_Min_Depth = 39.57; MB_Bottom_Detect_Filter_Max_Depth = 68.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367012 meters # Minimum depth: 126.669962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 76.669962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832135; longitude = -122.145152; captureRadius = 10; duration = 67; initialDepth = 76.669962; finalDepth = 76.945190; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.702612 # Altitude Set: 50.702612 # Vehicle Depth:76.669962 # Seafloor Depth:-127.131248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 121.69; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 65.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367046 meters # Minimum depth: 126.669962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 76.669962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832077; longitude = -122.145712; captureRadius = 10; duration = 67; initialDepth = 76.669962; finalDepth = 76.669962; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.461286 # Altitude Set: 50.461286 # Vehicle Depth:76.669962 # Seafloor Depth:-127.048018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 121.11; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 65.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367078 meters # Minimum depth: 127.200978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 77.200978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832018; longitude = -122.146272; captureRadius = 10; duration = 67; initialDepth = 77.200978; finalDepth = 76.669962; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.574212 # Altitude Set: 50.574212 # Vehicle Depth:77.200978 # Seafloor Depth:-127.775190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 121.38; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 65.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367111 meters # Minimum depth: 127.722761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 77.722761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831960; longitude = -122.146832; captureRadius = 10; duration = 67; initialDepth = 77.722761; finalDepth = 77.200978; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.970229 # Altitude Set: 50.970229 # Vehicle Depth:77.722761 # Seafloor Depth:-128.692990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 122.33; MB_Bottom_Detect_Filter_Min_Depth = 38.23; MB_Bottom_Detect_Filter_Max_Depth = 66.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367144 meters # Minimum depth: 128.603462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 78.603462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831901; longitude = -122.147392; captureRadius = 10; duration = 67; initialDepth = 78.603462; finalDepth = 77.722761; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.343135 # Altitude Set: 53.343135 # Vehicle Depth:78.603462 # Seafloor Depth:-131.946597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.01; MB_Bottom_Detect_Filter_Max_Range = 128.02; MB_Bottom_Detect_Filter_Min_Depth = 40.01; MB_Bottom_Detect_Filter_Max_Depth = 69.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367178 meters # Minimum depth: 132.345430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 82.345430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831843; longitude = -122.147952; captureRadius = 10; duration = 67; initialDepth = 82.345430; finalDepth = 78.603462; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.343135 # Altitude Set: 53.343135 # Vehicle Depth:82.34543 # Seafloor Depth:-133.804662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.01; MB_Bottom_Detect_Filter_Max_Range = 128.02; MB_Bottom_Detect_Filter_Min_Depth = 40.01; MB_Bottom_Detect_Filter_Max_Depth = 69.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367210 meters # Minimum depth: 133.656157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 83.656157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831784; longitude = -122.148512; captureRadius = 10; duration = 67; initialDepth = 83.656157; finalDepth = 82.345430; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.459232 # Altitude Set: 51.459232 # Vehicle Depth:83.656157 # Seafloor Depth:-133.955914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 123.50; MB_Bottom_Detect_Filter_Min_Depth = 38.59; MB_Bottom_Detect_Filter_Max_Depth = 66.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367243 meters # Minimum depth: 133.541473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 83.541473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831726; longitude = -122.149072; captureRadius = 10; duration = 67; initialDepth = 83.541473; finalDepth = 83.656157; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.299757 # Altitude Set: 50.299757 # Vehicle Depth:83.541473 # Seafloor Depth:-133.541473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 120.72; MB_Bottom_Detect_Filter_Min_Depth = 37.72; MB_Bottom_Detect_Filter_Max_Depth = 65.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367277 meters # Minimum depth: 133.152234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 83.152234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831667; longitude = -122.149632; captureRadius = 10; duration = 67; initialDepth = 83.152234; finalDepth = 83.541473; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.637549 # Altitude Set: 50.637549 # Vehicle Depth:83.152234 # Seafloor Depth:-133.789783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.98; MB_Bottom_Detect_Filter_Max_Range = 121.53; MB_Bottom_Detect_Filter_Min_Depth = 37.98; MB_Bottom_Detect_Filter_Max_Depth = 65.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367309 meters # Minimum depth: 133.152234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 83.152234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831609; longitude = -122.150192; captureRadius = 10; duration = 67; initialDepth = 83.152234; finalDepth = 83.152234; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.637549 # Altitude Set: 50.637549 # Vehicle Depth:83.152234 # Seafloor Depth:-133.529314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.98; MB_Bottom_Detect_Filter_Max_Range = 121.53; MB_Bottom_Detect_Filter_Min_Depth = 37.98; MB_Bottom_Detect_Filter_Max_Depth = 65.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367342 meters # Minimum depth: 133.202993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 83.202993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831550; longitude = -122.150752; captureRadius = 10; duration = 67; initialDepth = 83.202993; finalDepth = 83.152234; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.091908 # Altitude Set: 53.091908 # Vehicle Depth:83.202993 # Seafloor Depth:-136.294901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 127.42; MB_Bottom_Detect_Filter_Min_Depth = 39.82; MB_Bottom_Detect_Filter_Max_Depth = 69.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367376 meters # Minimum depth: 136.657362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 86.657362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831492; longitude = -122.151312; captureRadius = 10; duration = 67; initialDepth = 86.657362; finalDepth = 83.202993; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.055693 # Altitude Set: 60 # Vehicle Depth:86.657362 # Seafloor Depth:-148.713055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367408 meters # Minimum depth: 149.639880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 99.639880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831433; longitude = -122.151873; captureRadius = 10; duration = 67; initialDepth = 99.639880; finalDepth = 86.657362; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.055693 # Altitude Set: 60 # Vehicle Depth:99.63988 # Seafloor Depth:-152.764532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367442 meters # Minimum depth: 151.807743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 101.807743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831374; longitude = -122.152433; captureRadius = 10; duration = 67; initialDepth = 101.807743; finalDepth = 99.639880; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.124652 # Altitude Set: 53.124652 # Vehicle Depth:101.807743 # Seafloor Depth:-151.807743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 127.50; MB_Bottom_Detect_Filter_Min_Depth = 39.84; MB_Bottom_Detect_Filter_Max_Depth = 69.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.367474 meters # Minimum depth: 152.524494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 102.524494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831316; longitude = -122.152993; captureRadius = 10; duration = 67; initialDepth = 102.524494; finalDepth = 101.807743; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.637145 # Altitude Set: 52.637145 # Vehicle Depth:102.524494 # Seafloor Depth:-155.161639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.48; MB_Bottom_Detect_Filter_Max_Range = 126.33; MB_Bottom_Detect_Filter_Min_Depth = 39.48; MB_Bottom_Detect_Filter_Max_Depth = 68.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.725343 meters # Minimum depth: 156.844011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 106.844011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831257; longitude = -122.153553; captureRadius = 10; duration = 71; initialDepth = 106.844011; finalDepth = 102.524494; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.988184 # Altitude Set: 52.988184 # Vehicle Depth:106.844011 # Seafloor Depth:-159.832195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 127.17; MB_Bottom_Detect_Filter_Min_Depth = 39.74; MB_Bottom_Detect_Filter_Max_Depth = 68.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 47.119066 meters # Minimum depth: 160.167682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 110.167682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831195; longitude = -122.154150; captureRadius = 10; duration = 62; initialDepth = 110.167682; finalDepth = 106.844011; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.782249 # Altitude Set: 54.782249 # Vehicle Depth:110.167682 # Seafloor Depth:-164.949931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.09; MB_Bottom_Detect_Filter_Max_Range = 131.48; MB_Bottom_Detect_Filter_Min_Depth = 41.09; MB_Bottom_Detect_Filter_Max_Depth = 71.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.402502 meters # Minimum depth: 164.949931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 114.949931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831462; longitude = -122.154561; captureRadius = 10; duration = 68; initialDepth = 114.949931; finalDepth = 110.167682; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.782249 # Altitude Set: 54.782249 # Vehicle Depth:114.949931 # Seafloor Depth:-167.614669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.09; MB_Bottom_Detect_Filter_Max_Range = 131.48; MB_Bottom_Detect_Filter_Min_Depth = 41.09; MB_Bottom_Detect_Filter_Max_Depth = 71.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.402381 meters # Minimum depth: 167.871442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 117.871442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831754; longitude = -122.155009; captureRadius = 10; duration = 68; initialDepth = 117.871442; finalDepth = 114.949931; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.664738 # Altitude Set: 52.664738 # Vehicle Depth:117.871442 # Seafloor Depth:-169.859366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.50; MB_Bottom_Detect_Filter_Max_Range = 126.40; MB_Bottom_Detect_Filter_Min_Depth = 39.50; MB_Bottom_Detect_Filter_Max_Depth = 68.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.402261 meters # Minimum depth: 170.093235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 120.093235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832045; longitude = -122.155457; captureRadius = 10; duration = 68; initialDepth = 120.093235; finalDepth = 117.871442; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.987924 # Altitude Set: 51.987924 # Vehicle Depth:120.093235 # Seafloor Depth:-170.097465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.99; MB_Bottom_Detect_Filter_Max_Range = 124.77; MB_Bottom_Detect_Filter_Min_Depth = 38.99; MB_Bottom_Detect_Filter_Max_Depth = 67.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.402140 meters # Minimum depth: 170.676142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 120.676142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832337; longitude = -122.155905; captureRadius = 10; duration = 68; initialDepth = 120.676142; finalDepth = 120.093235; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.552182 # Altitude Set: 52.552182 # Vehicle Depth:120.676142 # Seafloor Depth:-173.228324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 126.13; MB_Bottom_Detect_Filter_Min_Depth = 39.41; MB_Bottom_Detect_Filter_Max_Depth = 68.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.402020 meters # Minimum depth: 173.062166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 123.062166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832628; longitude = -122.156353; captureRadius = 10; duration = 68; initialDepth = 123.062166; finalDepth = 120.676142; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.552182 # Altitude Set: 52.552182 # Vehicle Depth:123.062166 # Seafloor Depth:-174.700434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 126.13; MB_Bottom_Detect_Filter_Min_Depth = 39.41; MB_Bottom_Detect_Filter_Max_Depth = 68.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401898 meters # Minimum depth: 174.283187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 124.283187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832920; longitude = -122.156801; captureRadius = 10; duration = 68; initialDepth = 124.283187; finalDepth = 123.062166; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.026225 # Altitude Set: 53.026225 # Vehicle Depth:124.283187 # Seafloor Depth:-177.309412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 127.26; MB_Bottom_Detect_Filter_Min_Depth = 39.77; MB_Bottom_Detect_Filter_Max_Depth = 68.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401778 meters # Minimum depth: 178.271641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 128.271641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833211; longitude = -122.157249; captureRadius = 10; duration = 68; initialDepth = 128.271641; finalDepth = 124.283187; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.026225 # Altitude Set: 53.026225 # Vehicle Depth:128.271641 # Seafloor Depth:-181.067124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 127.26; MB_Bottom_Detect_Filter_Min_Depth = 39.77; MB_Bottom_Detect_Filter_Max_Depth = 68.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401658 meters # Minimum depth: 181.280230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 131.280230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833503; longitude = -122.157697; captureRadius = 10; duration = 68; initialDepth = 131.280230; finalDepth = 128.271641; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.948427 # Altitude Set: 53.948427 # Vehicle Depth:131.28023 # Seafloor Depth:-185.228657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.46; MB_Bottom_Detect_Filter_Max_Range = 129.48; MB_Bottom_Detect_Filter_Min_Depth = 40.46; MB_Bottom_Detect_Filter_Max_Depth = 70.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401536 meters # Minimum depth: 187.098253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 137.098253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833794; longitude = -122.158145; captureRadius = 10; duration = 68; initialDepth = 137.098253; finalDepth = 131.280230; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.948427 # Altitude Set: 53.948427 # Vehicle Depth:137.098253 # Seafloor Depth:-190.921948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.46; MB_Bottom_Detect_Filter_Max_Range = 129.48; MB_Bottom_Detect_Filter_Min_Depth = 40.46; MB_Bottom_Detect_Filter_Max_Depth = 70.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401416 meters # Minimum depth: 192.317092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 142.317092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834085; longitude = -122.158594; captureRadius = 10; duration = 68; initialDepth = 142.317092; finalDepth = 137.098253; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.823695 # Altitude Set: 53.823695 # Vehicle Depth:142.317092 # Seafloor Depth:-196.071772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.37; MB_Bottom_Detect_Filter_Max_Range = 129.18; MB_Bottom_Detect_Filter_Min_Depth = 40.37; MB_Bottom_Detect_Filter_Max_Depth = 69.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401296 meters # Minimum depth: 196.668131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 146.668131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834377; longitude = -122.159042; captureRadius = 10; duration = 68; initialDepth = 146.668131; finalDepth = 142.317092; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.049727 # Altitude Set: 54.049727 # Vehicle Depth:146.668131 # Seafloor Depth:-200.717858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.54; MB_Bottom_Detect_Filter_Max_Range = 129.72; MB_Bottom_Detect_Filter_Min_Depth = 40.54; MB_Bottom_Detect_Filter_Max_Depth = 70.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401174 meters # Minimum depth: 202.661856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 152.661856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834668; longitude = -122.159490; captureRadius = 10; duration = 68; initialDepth = 152.661856; finalDepth = 146.668131; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.049727 # Altitude Set: 54.049727 # Vehicle Depth:152.661856 # Seafloor Depth:-205.982093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.54; MB_Bottom_Detect_Filter_Max_Range = 129.72; MB_Bottom_Detect_Filter_Min_Depth = 40.54; MB_Bottom_Detect_Filter_Max_Depth = 70.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.401054 meters # Minimum depth: 206.368141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 156.368141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834960; longitude = -122.159938; captureRadius = 10; duration = 68; initialDepth = 156.368141; finalDepth = 152.661856; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.485063 # Altitude Set: 53.485063 # Vehicle Depth:156.368141 # Seafloor Depth:-209.853204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 128.36; MB_Bottom_Detect_Filter_Min_Depth = 40.11; MB_Bottom_Detect_Filter_Max_Depth = 69.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400934 meters # Minimum depth: 210.403855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 160.403855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835251; longitude = -122.160386; captureRadius = 10; duration = 68; initialDepth = 160.403855; finalDepth = 156.368141; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.775018 # Altitude Set: 53.775018 # Vehicle Depth:160.403855 # Seafloor Depth:-214.178873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 129.06; MB_Bottom_Detect_Filter_Min_Depth = 40.33; MB_Bottom_Detect_Filter_Max_Depth = 69.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400813 meters # Minimum depth: 216.698585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 166.698585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835543; longitude = -122.160834; captureRadius = 10; duration = 68; initialDepth = 166.698585; finalDepth = 160.403855; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.775018 # Altitude Set: 53.775018 # Vehicle Depth:166.698585 # Seafloor Depth:-218.776735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 129.06; MB_Bottom_Detect_Filter_Min_Depth = 40.33; MB_Bottom_Detect_Filter_Max_Depth = 69.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400692 meters # Minimum depth: 220.811027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 170.811027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835834; longitude = -122.161282; captureRadius = 10; duration = 68; initialDepth = 170.811027; finalDepth = 166.698585; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.955319 # Altitude Set: 56.955319 # Vehicle Depth:170.811027 # Seafloor Depth:-227.766346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.72; MB_Bottom_Detect_Filter_Max_Range = 136.69; MB_Bottom_Detect_Filter_Min_Depth = 42.72; MB_Bottom_Detect_Filter_Max_Depth = 74.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400571 meters # Minimum depth: 228.602379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 178.602379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836126; longitude = -122.161730; captureRadius = 10; duration = 68; initialDepth = 178.602379; finalDepth = 170.811027; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.57954 # Altitude Set: 57.57954 # Vehicle Depth:178.602379 # Seafloor Depth:-236.181919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.18; MB_Bottom_Detect_Filter_Max_Range = 138.19; MB_Bottom_Detect_Filter_Min_Depth = 43.18; MB_Bottom_Detect_Filter_Max_Depth = 74.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400451 meters # Minimum depth: 236.914601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 186.914601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836417; longitude = -122.162178; captureRadius = 10; duration = 68; initialDepth = 186.914601; finalDepth = 178.602379; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.57954 # Altitude Set: 57.57954 # Vehicle Depth:186.914601 # Seafloor Depth:-242.937298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.18; MB_Bottom_Detect_Filter_Max_Range = 138.19; MB_Bottom_Detect_Filter_Min_Depth = 43.18; MB_Bottom_Detect_Filter_Max_Depth = 74.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400330 meters # Minimum depth: 245.506535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 195.506535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836709; longitude = -122.162626; captureRadius = 10; duration = 68; initialDepth = 195.506535; finalDepth = 186.914601; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.863578 # Altitude Set: 56.863578 # Vehicle Depth:195.506535 # Seafloor Depth:-252.370113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.65; MB_Bottom_Detect_Filter_Max_Range = 136.47; MB_Bottom_Detect_Filter_Min_Depth = 42.65; MB_Bottom_Detect_Filter_Max_Depth = 73.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400209 meters # Minimum depth: 253.716309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 203.716309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837000; longitude = -122.163074; captureRadius = 10; duration = 68; initialDepth = 203.716309; finalDepth = 195.506535; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.863578 # Altitude Set: 56.863578 # Vehicle Depth:203.716309 # Seafloor Depth:-259.414605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.65; MB_Bottom_Detect_Filter_Max_Range = 136.47; MB_Bottom_Detect_Filter_Min_Depth = 42.65; MB_Bottom_Detect_Filter_Max_Depth = 73.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.400089 meters # Minimum depth: 261.636807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 211.636807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837292; longitude = -122.163522; captureRadius = 10; duration = 68; initialDepth = 211.636807; finalDepth = 203.716309; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.698296 # Altitude Set: 55.698296 # Vehicle Depth:211.636807 # Seafloor Depth:-266.050617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.77; MB_Bottom_Detect_Filter_Max_Range = 133.68; MB_Bottom_Detect_Filter_Min_Depth = 41.77; MB_Bottom_Detect_Filter_Max_Depth = 72.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.399968 meters # Minimum depth: 267.055804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 217.055804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837583; longitude = -122.163970; captureRadius = 10; duration = 68; initialDepth = 217.055804; finalDepth = 211.636807; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.84525 # Altitude Set: 54.84525 # Vehicle Depth:217.055804 # Seafloor Depth:-271.901054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.13; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 41.13; MB_Bottom_Detect_Filter_Max_Depth = 71.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.966477 meters # Minimum depth: 273.128829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 223.128829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837875; longitude = -122.164418; captureRadius = 10; duration = 79; initialDepth = 223.128829; finalDepth = 217.055804; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.84525 # Altitude Set: 54.84525 # Vehicle Depth:223.128829 # Seafloor Depth:-276.957718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.13; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 41.13; MB_Bottom_Detect_Filter_Max_Depth = 71.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 48.017530 meters # Minimum depth: 277.817692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 227.817692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838215; longitude = -122.164941; captureRadius = 10; duration = 64; initialDepth = 227.817692; finalDepth = 223.128829; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.828889 # Altitude Set: 53.828889 # Vehicle Depth:227.817692 # Seafloor Depth:-279.672668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.37; MB_Bottom_Detect_Filter_Max_Range = 129.19; MB_Bottom_Detect_Filter_Min_Depth = 40.37; MB_Bottom_Detect_Filter_Max_Depth = 69.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.621108 meters # Minimum depth: 279.768660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 229.768660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837841; longitude = -122.165213; captureRadius = 10; duration = 76; initialDepth = 229.768660; finalDepth = 227.817692; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.272304 # Altitude Set: 53.272304 # Vehicle Depth:229.76866 # Seafloor Depth:-283.040964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.95; MB_Bottom_Detect_Filter_Max_Range = 127.85; MB_Bottom_Detect_Filter_Min_Depth = 39.95; MB_Bottom_Detect_Filter_Max_Depth = 69.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 58.935401 meters # Minimum depth: 284.459930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 234.459930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837393; longitude = -122.165540; captureRadius = 10; duration = 78; initialDepth = 234.459930; finalDepth = 229.768660; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.549465 # Altitude Set: 54.549465 # Vehicle Depth:234.45993 # Seafloor Depth:-289.009395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.92; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.91; MB_Bottom_Detect_Filter_Max_Range = 130.92; MB_Bottom_Detect_Filter_Min_Depth = 40.91; MB_Bottom_Detect_Filter_Max_Depth = 70.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.246814 meters # Minimum depth: 289.869907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 239.869907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836935; longitude = -122.165875; captureRadius = 10; duration = 78; initialDepth = 239.869907; finalDepth = 234.459930; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.549465 # Altitude Set: 54.549465 # Vehicle Depth:239.869907 # Seafloor Depth:-292.301864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.92; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.91; MB_Bottom_Detect_Filter_Max_Range = 130.92; MB_Bottom_Detect_Filter_Min_Depth = 40.91; MB_Bottom_Detect_Filter_Max_Depth = 70.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.246897 meters # Minimum depth: 290.657776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 240.657776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836474; longitude = -122.166211; captureRadius = 10; duration = 78; initialDepth = 240.657776; finalDepth = 239.869907; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.431957 # Altitude Set: 52.431957 # Vehicle Depth:240.657776 # Seafloor Depth:-291.936451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.32; MB_Bottom_Detect_Filter_Max_Range = 125.84; MB_Bottom_Detect_Filter_Min_Depth = 39.32; MB_Bottom_Detect_Filter_Max_Depth = 68.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.246982 meters # Minimum depth: 292.730882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 242.730882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836014; longitude = -122.166547; captureRadius = 10; duration = 78; initialDepth = 242.730882; finalDepth = 240.657776; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.474378 # Altitude Set: 51.474378 # Vehicle Depth:242.730882 # Seafloor Depth:-294.205260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 123.54; MB_Bottom_Detect_Filter_Min_Depth = 38.61; MB_Bottom_Detect_Filter_Max_Depth = 66.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.430644 meters # Minimum depth: 293.472574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 243.472574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835553; longitude = -122.166883; captureRadius = 10; duration = 68; initialDepth = 243.472574; finalDepth = 242.730882; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.474378 # Altitude Set: 51.474378 # Vehicle Depth:243.472574 # Seafloor Depth:-294.011030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 123.54; MB_Bottom_Detect_Filter_Min_Depth = 38.61; MB_Bottom_Detect_Filter_Max_Depth = 66.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.621586 meters # Minimum depth: 293.425896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 243.425896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835153; longitude = -122.167174; captureRadius = 10; duration = 76; initialDepth = 243.425896; finalDepth = 243.472574; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.538456 # Altitude Set: 50.538456 # Vehicle Depth:243.425896 # Seafloor Depth:-293.690173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.90; MB_Bottom_Detect_Filter_Max_Range = 121.29; MB_Bottom_Detect_Filter_Min_Depth = 37.90; MB_Bottom_Detect_Filter_Max_Depth = 65.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.621667 meters # Minimum depth: 294.027597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 244.027597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834705; longitude = -122.167501; captureRadius = 10; duration = 76; initialDepth = 244.027597; finalDepth = 243.425896; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.949654 # Altitude Set: 50.949654 # Vehicle Depth:244.027597 # Seafloor Depth:-294.977251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 122.28; MB_Bottom_Detect_Filter_Min_Depth = 38.21; MB_Bottom_Detect_Filter_Max_Depth = 66.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.565758 meters # Minimum depth: 294.378855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 244.378855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834257; longitude = -122.167828; captureRadius = 10; duration = 67; initialDepth = 244.378855; finalDepth = 244.027597; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.949654 # Altitude Set: 50.949654 # Vehicle Depth:244.378855 # Seafloor Depth:-294.663090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 122.28; MB_Bottom_Detect_Filter_Min_Depth = 38.21; MB_Bottom_Detect_Filter_Max_Depth = 66.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.272350 meters # Minimum depth: 293.840437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 243.840437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833864; longitude = -122.168115; captureRadius = 10; duration = 67; initialDepth = 243.840437; finalDepth = 244.378855; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.469874 # Altitude Set: 50.469874 # Vehicle Depth:243.840437 # Seafloor Depth:-294.310311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 121.13; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 65.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.621885 meters # Minimum depth: 293.903717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 243.903717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833473; longitude = -122.168400; captureRadius = 10; duration = 76; initialDepth = 243.903717; finalDepth = 243.840437; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.0856230000001 # Altitude Set: 51.0856230000001 # Vehicle Depth:243.903717 # Seafloor Depth:-294.989340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.31; MB_Bottom_Detect_Filter_Max_Range = 122.61; MB_Bottom_Detect_Filter_Min_Depth = 38.31; MB_Bottom_Detect_Filter_Max_Depth = 66.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.098953 meters # Minimum depth: 294.701070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 244.701070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833025; longitude = -122.168727; captureRadius = 10; duration = 66; initialDepth = 244.701070; finalDepth = 243.903717; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.121549 # Altitude Set: 51.121549 # Vehicle Depth:244.70107 # Seafloor Depth:-295.822619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 122.69; MB_Bottom_Detect_Filter_Min_Depth = 38.34; MB_Bottom_Detect_Filter_Max_Depth = 66.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.739539 meters # Minimum depth: 296.797896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 246.797896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832635; longitude = -122.169011; captureRadius = 10; duration = 67; initialDepth = 246.797896; finalDepth = 244.701070; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.325331 # Altitude Set: 52.325331 # Vehicle Depth:246.797896 # Seafloor Depth:-299.123227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 125.58; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 68.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622105 meters # Minimum depth: 300.043509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 250.043509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832241; longitude = -122.169299; captureRadius = 10; duration = 76; initialDepth = 250.043509; finalDepth = 246.797896; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.325331 # Altitude Set: 52.325331 # Vehicle Depth:250.043509 # Seafloor Depth:-302.145536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 125.58; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 68.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622184 meters # Minimum depth: 304.863773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.863773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831792; longitude = -122.169626; captureRadius = 10; duration = 76; initialDepth = 254.863773; finalDepth = 250.043509; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.102027 # Altitude Set: 52.102027 # Vehicle Depth:254.863773 # Seafloor Depth:-305.649041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.04; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.04; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622265 meters # Minimum depth: 308.343758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 258.343758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831344; longitude = -122.169953; captureRadius = 10; duration = 76; initialDepth = 258.343758; finalDepth = 254.863773; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.785268 # Altitude Set: 50.785268 # Vehicle Depth:258.343758 # Seafloor Depth:-309.102575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 121.88; MB_Bottom_Detect_Filter_Min_Depth = 38.09; MB_Bottom_Detect_Filter_Max_Depth = 66.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622344 meters # Minimum depth: 310.184502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 260.184502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830896; longitude = -122.170279; captureRadius = 10; duration = 76; initialDepth = 260.184502; finalDepth = 258.343758; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.826683 # Altitude Set: 50.826683 # Vehicle Depth:260.184502 # Seafloor Depth:-311.011185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 121.98; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 66.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622423 meters # Minimum depth: 310.873486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 260.873486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830448; longitude = -122.170606; captureRadius = 10; duration = 76; initialDepth = 260.873486; finalDepth = 260.184502; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.49188 # Altitude Set: 51.49188 # Vehicle Depth:260.873486 # Seafloor Depth:-312.365366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 123.58; MB_Bottom_Detect_Filter_Min_Depth = 38.62; MB_Bottom_Detect_Filter_Max_Depth = 66.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.622504 meters # Minimum depth: 312.130340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 262.130340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830000; longitude = -122.170933; captureRadius = 10; duration = 76; initialDepth = 262.130340; finalDepth = 260.873486; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.49188 # Altitude Set: 51.49188 # Vehicle Depth:262.13034 # Seafloor Depth:-313.300966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 123.58; MB_Bottom_Detect_Filter_Min_Depth = 38.62; MB_Bottom_Detect_Filter_Max_Depth = 66.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.760389 meters # Minimum depth: 313.135557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 263.135557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829552; longitude = -122.171260; captureRadius = 10; duration = 77; initialDepth = 263.135557; finalDepth = 262.130340; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.487841 # Altitude Set: 53.487841 # Vehicle Depth:263.135557 # Seafloor Depth:-316.623398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 128.37; MB_Bottom_Detect_Filter_Min_Depth = 40.12; MB_Bottom_Detect_Filter_Max_Depth = 69.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.248246 meters # Minimum depth: 318.844295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 268.844295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829103; longitude = -122.171587; captureRadius = 10; duration = 78; initialDepth = 268.844295; finalDepth = 263.135557; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.487841 # Altitude Set: 53.487841 # Vehicle Depth:268.844295 # Seafloor Depth:-321.391249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 128.37; MB_Bottom_Detect_Filter_Min_Depth = 40.12; MB_Bottom_Detect_Filter_Max_Depth = 69.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.248330 meters # Minimum depth: 324.543325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 274.543325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828642; longitude = -122.171923; captureRadius = 10; duration = 78; initialDepth = 274.543325; finalDepth = 268.844295; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.546954 # Altitude Set: 52.546954 # Vehicle Depth:274.543325 # Seafloor Depth:-327.060103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 126.11; MB_Bottom_Detect_Filter_Min_Depth = 39.41; MB_Bottom_Detect_Filter_Max_Depth = 68.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.248415 meters # Minimum depth: 328.413514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 278.413514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828182; longitude = -122.172260; captureRadius = 10; duration = 78; initialDepth = 278.413514; finalDepth = 274.543325; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.863555 # Altitude Set: 53.863555 # Vehicle Depth:278.413514 # Seafloor Depth:-332.277069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.40; MB_Bottom_Detect_Filter_Max_Range = 129.27; MB_Bottom_Detect_Filter_Min_Depth = 40.40; MB_Bottom_Detect_Filter_Max_Depth = 70.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.248499 meters # Minimum depth: 334.364222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 284.364222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827721; longitude = -122.172596; captureRadius = 10; duration = 78; initialDepth = 284.364222; finalDepth = 278.413514; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.283758 # Altitude Set: 54.283758 # Vehicle Depth:284.364222 # Seafloor Depth:-338.647980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.28; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.982816 meters # Minimum depth: 340.135875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 290.135875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827260; longitude = -122.172932; captureRadius = 10; duration = 67; initialDepth = 290.135875; finalDepth = 284.364222; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.283758 # Altitude Set: 54.283758 # Vehicle Depth:290.135875 # Seafloor Depth:-341.978290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.28; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.623061 meters # Minimum depth: 342.423772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 292.423772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826864; longitude = -122.173221; captureRadius = 10; duration = 76; initialDepth = 292.423772; finalDepth = 290.135875; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.842415 # Altitude Set: 51.842415 # Vehicle Depth:292.423772 # Seafloor Depth:-344.082542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 124.42; MB_Bottom_Detect_Filter_Min_Depth = 38.88; MB_Bottom_Detect_Filter_Max_Depth = 67.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.623141 meters # Minimum depth: 342.877941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 292.877941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826416; longitude = -122.173548; captureRadius = 10; duration = 76; initialDepth = 292.877941; finalDepth = 292.423772; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.65877 # Altitude Set: 51.65877 # Vehicle Depth:292.877941 # Seafloor Depth:-343.952596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 123.98; MB_Bottom_Detect_Filter_Min_Depth = 38.74; MB_Bottom_Detect_Filter_Max_Depth = 67.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.623221 meters # Minimum depth: 345.586047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 295.586047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825968; longitude = -122.173874; captureRadius = 10; duration = 76; initialDepth = 295.586047; finalDepth = 292.877941; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.074655 # Altitude Set: 51.074655 # Vehicle Depth:295.586047 # Seafloor Depth:-346.579460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.31; MB_Bottom_Detect_Filter_Max_Range = 122.58; MB_Bottom_Detect_Filter_Min_Depth = 38.31; MB_Bottom_Detect_Filter_Max_Depth = 66.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.623301 meters # Minimum depth: 350.454593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 300.454593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825520; longitude = -122.174201; captureRadius = 10; duration = 76; initialDepth = 300.454593; finalDepth = 295.586047; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.272702 # Altitude Set: 52.272702 # Vehicle Depth:300.454593 # Seafloor Depth:-352.727295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 125.45; MB_Bottom_Detect_Filter_Min_Depth = 39.20; MB_Bottom_Detect_Filter_Max_Depth = 67.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 57.623380 meters # Minimum depth: 351.533941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 301.533941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825071; longitude = -122.174528; captureRadius = 10; duration = 76; initialDepth = 301.533941; finalDepth = 300.454593; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.272702 # Altitude Set: 52.272702 # Vehicle Depth:301.533941 # Seafloor Depth:-353.805677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 125.45; MB_Bottom_Detect_Filter_Min_Depth = 39.20; MB_Bottom_Detect_Filter_Max_Depth = 67.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 62.421871 meters # Minimum depth: 354.596744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.596744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824623; longitude = -122.174855; captureRadius = 10; duration = 83; initialDepth = 304.596744; finalDepth = 301.533941; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.271736 # Altitude Set: 52.271736 # Vehicle Depth:304.596744 # Seafloor Depth:-356.697661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 125.45; MB_Bottom_Detect_Filter_Min_Depth = 39.20; MB_Bottom_Detect_Filter_Max_Depth = 67.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 4.013457 meters # Minimum depth: 354.596744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.596744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824138; longitude = -122.175209; captureRadius = 10; duration = 5; initialDepth = 304.596744; finalDepth = 304.596744; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.493229 # Altitude Set: 56.493229 # Vehicle Depth:304.596744 # Seafloor Depth:-361.089973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.37; MB_Bottom_Detect_Filter_Max_Range = 135.58; MB_Bottom_Detect_Filter_Min_Depth = 42.37; MB_Bottom_Detect_Filter_Max_Depth = 73.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.308722 meters # Minimum depth: 354.183618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.183618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824117; longitude = -122.175172; captureRadius = 10; duration = 72; initialDepth = 304.183618; finalDepth = 304.596744; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.493229 # Altitude Set: 56.493229 # Vehicle Depth:304.183618 # Seafloor Depth:-360.321802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.37; MB_Bottom_Detect_Filter_Max_Range = 135.58; MB_Bottom_Detect_Filter_Min_Depth = 42.37; MB_Bottom_Detect_Filter_Max_Depth = 73.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.960977 meters # Minimum depth: 349.344130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 299.344130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823839; longitude = -122.174671; captureRadius = 10; duration = 73; initialDepth = 299.344130; finalDepth = 304.183618; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.138184 # Altitude Set: 56.138184 # Vehicle Depth:299.34413 # Seafloor Depth:-353.707321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.10; MB_Bottom_Detect_Filter_Max_Range = 134.73; MB_Bottom_Detect_Filter_Min_Depth = 42.10; MB_Bottom_Detect_Filter_Max_Depth = 72.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.383434 meters # Minimum depth: 343.313533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 293.313533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823558; longitude = -122.174164; captureRadius = 10; duration = 72; initialDepth = 293.313533; finalDepth = 299.344130; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.984948 # Altitude Set: 54.984948 # Vehicle Depth:293.313533 # Seafloor Depth:-348.298481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 131.96; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 71.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.886818 meters # Minimum depth: 341.763123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 291.763123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823279; longitude = -122.173662; captureRadius = 10; duration = 73; initialDepth = 291.763123; finalDepth = 293.313533; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.984948 # Altitude Set: 54.984948 # Vehicle Depth:291.763123 # Seafloor Depth:-344.342121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 131.96; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 71.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.458148 meters # Minimum depth: 340.297332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 290.297332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822998; longitude = -122.173156; captureRadius = 10; duration = 72; initialDepth = 290.297332; finalDepth = 291.763123; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.578998 # Altitude Set: 52.578998 # Vehicle Depth:290.297332 # Seafloor Depth:-341.516238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 126.19; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 68.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.812658 meters # Minimum depth: 337.078633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 287.078633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822719; longitude = -122.172653; captureRadius = 10; duration = 73; initialDepth = 287.078633; finalDepth = 290.297332; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.847194 # Altitude Set: 52.847194 # Vehicle Depth:287.078633 # Seafloor Depth:-339.925827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 126.83; MB_Bottom_Detect_Filter_Min_Depth = 39.64; MB_Bottom_Detect_Filter_Max_Depth = 68.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.532861 meters # Minimum depth: 335.313110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.313110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822438; longitude = -122.172148; captureRadius = 10; duration = 72; initialDepth = 285.313110; finalDepth = 287.078633; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.847194 # Altitude Set: 52.847194 # Vehicle Depth:285.31311 # Seafloor Depth:-336.952685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 126.83; MB_Bottom_Detect_Filter_Min_Depth = 39.64; MB_Bottom_Detect_Filter_Max_Depth = 68.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.738498 meters # Minimum depth: 334.889077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 284.889077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822159; longitude = -122.171644; captureRadius = 10; duration = 72; initialDepth = 284.889077; finalDepth = 285.313110; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.639575 # Altitude Set: 51.639575 # Vehicle Depth:284.889077 # Seafloor Depth:-335.566480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 123.93; MB_Bottom_Detect_Filter_Min_Depth = 38.73; MB_Bottom_Detect_Filter_Max_Depth = 67.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.607576 meters # Minimum depth: 334.889077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 284.889077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821879; longitude = -122.171139; captureRadius = 10; duration = 72; initialDepth = 284.889077; finalDepth = 284.889077; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.758646 # Altitude Set: 50.758646 # Vehicle Depth:284.889077 # Seafloor Depth:-335.647723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.07; MB_Bottom_Detect_Filter_Max_Range = 121.82; MB_Bottom_Detect_Filter_Min_Depth = 38.07; MB_Bottom_Detect_Filter_Max_Depth = 65.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.664337 meters # Minimum depth: 335.369865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.369865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821599; longitude = -122.170636; captureRadius = 10; duration = 72; initialDepth = 285.369865; finalDepth = 284.889077; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.758646 # Altitude Set: 50.758646 # Vehicle Depth:285.369865 # Seafloor Depth:-336.101928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.07; MB_Bottom_Detect_Filter_Max_Range = 121.82; MB_Bottom_Detect_Filter_Min_Depth = 38.07; MB_Bottom_Detect_Filter_Max_Depth = 65.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.682292 meters # Minimum depth: 336.821492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 286.821492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821319; longitude = -122.170131; captureRadius = 10; duration = 72; initialDepth = 286.821492; finalDepth = 285.369865; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.553497 # Altitude Set: 51.553497 # Vehicle Depth:286.821492 # Seafloor Depth:-338.374989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 123.73; MB_Bottom_Detect_Filter_Min_Depth = 38.67; MB_Bottom_Detect_Filter_Max_Depth = 67.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.590174 meters # Minimum depth: 338.540781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 288.540781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821039; longitude = -122.169627; captureRadius = 10; duration = 72; initialDepth = 288.540781; finalDepth = 286.821492; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.778768 # Altitude Set: 51.778768 # Vehicle Depth:288.540781 # Seafloor Depth:-340.319549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 124.27; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 67.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.757008 meters # Minimum depth: 341.206668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 291.206668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820759; longitude = -122.169123; captureRadius = 10; duration = 73; initialDepth = 291.206668; finalDepth = 288.540781; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.778768 # Altitude Set: 51.778768 # Vehicle Depth:291.206668 # Seafloor Depth:-341.440534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 124.27; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 67.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.516012 meters # Minimum depth: 341.875816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 291.875816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820479; longitude = -122.168618; captureRadius = 10; duration = 72; initialDepth = 291.875816; finalDepth = 291.206668; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.109662 # Altitude Set: 52.109662 # Vehicle Depth:291.875816 # Seafloor Depth:-343.985478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.06; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.831725 meters # Minimum depth: 344.853212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 294.853212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820200; longitude = -122.168115; captureRadius = 10; duration = 73; initialDepth = 294.853212; finalDepth = 291.875816; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.109662 # Altitude Set: 52.109662 # Vehicle Depth:294.853212 # Seafloor Depth:-346.887519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.06; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.441848 meters # Minimum depth: 346.810363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 296.810363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819919; longitude = -122.167609; captureRadius = 10; duration = 72; initialDepth = 296.810363; finalDepth = 294.853212; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.034307 # Altitude Set: 52.034307 # Vehicle Depth:296.810363 # Seafloor Depth:-347.878992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.03; MB_Bottom_Detect_Filter_Max_Range = 124.88; MB_Bottom_Detect_Filter_Min_Depth = 39.03; MB_Bottom_Detect_Filter_Max_Depth = 67.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.906443 meters # Minimum depth: 350.078115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 300.078115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819640; longitude = -122.167107; captureRadius = 10; duration = 73; initialDepth = 300.078115; finalDepth = 296.810363; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.602118 # Altitude Set: 54.602118 # Vehicle Depth:300.078115 # Seafloor Depth:-354.680233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.95; MB_Bottom_Detect_Filter_Max_Range = 131.05; MB_Bottom_Detect_Filter_Min_Depth = 40.95; MB_Bottom_Detect_Filter_Max_Depth = 70.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.367684 meters # Minimum depth: 355.534664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.534664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819359; longitude = -122.166600; captureRadius = 10; duration = 72; initialDepth = 305.534664; finalDepth = 300.078115; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.602118 # Altitude Set: 54.602118 # Vehicle Depth:305.534664 # Seafloor Depth:-359.758177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.95; MB_Bottom_Detect_Filter_Max_Range = 131.05; MB_Bottom_Detect_Filter_Min_Depth = 40.95; MB_Bottom_Detect_Filter_Max_Depth = 70.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.981162 meters # Minimum depth: 361.074919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.074919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819080; longitude = -122.166099; captureRadius = 10; duration = 73; initialDepth = 311.074919; finalDepth = 305.534664; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.223513 # Altitude Set: 54.223513 # Vehicle Depth:311.074919 # Seafloor Depth:-364.896405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.67; MB_Bottom_Detect_Filter_Max_Range = 130.14; MB_Bottom_Detect_Filter_Min_Depth = 40.67; MB_Bottom_Detect_Filter_Max_Depth = 70.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 54.293519 meters # Minimum depth: 365.584069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 315.584069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818799; longitude = -122.165591; captureRadius = 10; duration = 72; initialDepth = 315.584069; finalDepth = 311.074919; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.326314 # Altitude Set: 54.326314 # Vehicle Depth:315.584069 # Seafloor Depth:-369.910383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.74; MB_Bottom_Detect_Filter_Max_Range = 130.38; MB_Bottom_Detect_Filter_Min_Depth = 40.74; MB_Bottom_Detect_Filter_Max_Depth = 70.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 60.708395 meters # Minimum depth: 372.091813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 322.091813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818520; longitude = -122.165090; captureRadius = 10; duration = 80; initialDepth = 322.091813; finalDepth = 315.584069; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.658835 # Altitude Set: 58.658835 # Vehicle Depth:322.091813 # Seafloor Depth:-380.750648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.99; MB_Bottom_Detect_Filter_Max_Range = 140.78; MB_Bottom_Detect_Filter_Min_Depth = 43.99; MB_Bottom_Detect_Filter_Max_Depth = 76.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.612781 meters # Minimum depth: 383.938092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 333.938092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818209; longitude = -122.164530; captureRadius = 10; duration = 70; initialDepth = 333.938092; finalDepth = 322.091813; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.658835 # Altitude Set: 58.658835 # Vehicle Depth:333.938092 # Seafloor Depth:-389.877049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.99; MB_Bottom_Detect_Filter_Max_Range = 140.78; MB_Bottom_Detect_Filter_Min_Depth = 43.99; MB_Bottom_Detect_Filter_Max_Depth = 76.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 18.761141 meters # Minimum depth: 385.871476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.871476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817940; longitude = -122.164045; captureRadius = 10; duration = 25; initialDepth = 335.871476; finalDepth = 333.938092; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.836814 # Altitude Set: 56.836814 # Vehicle Depth:335.871476 # Seafloor Depth:-392.708290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.63; MB_Bottom_Detect_Filter_Max_Range = 136.41; MB_Bottom_Detect_Filter_Min_Depth = 42.63; MB_Bottom_Detect_Filter_Max_Depth = 73.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.178256 meters # Minimum depth: 391.540124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 341.540124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817790; longitude = -122.164143; captureRadius = 10; duration = 74; initialDepth = 341.540124; finalDepth = 335.871476; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.836814 # Altitude Set: 56.836814 # Vehicle Depth:341.540124 # Seafloor Depth:-393.472826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.63; MB_Bottom_Detect_Filter_Max_Range = 136.41; MB_Bottom_Detect_Filter_Min_Depth = 42.63; MB_Bottom_Detect_Filter_Max_Depth = 73.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 60.864286 meters # Minimum depth: 395.020103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 345.020103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817342; longitude = -122.164436; captureRadius = 10; duration = 81; initialDepth = 345.020103; finalDepth = 341.540124; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.932702 # Altitude Set: 51.932702 # Vehicle Depth:345.020103 # Seafloor Depth:-396.246996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.95; MB_Bottom_Detect_Filter_Max_Range = 124.64; MB_Bottom_Detect_Filter_Min_Depth = 38.95; MB_Bottom_Detect_Filter_Max_Depth = 67.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.492420 meters # Minimum depth: 396.164940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 346.164940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816857; longitude = -122.164754; captureRadius = 10; duration = 68; initialDepth = 346.164940; finalDepth = 345.020103; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.226893 # Altitude Set: 51.226893 # Vehicle Depth:346.16494 # Seafloor Depth:-397.369658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.42; MB_Bottom_Detect_Filter_Max_Range = 122.94; MB_Bottom_Detect_Filter_Min_Depth = 38.42; MB_Bottom_Detect_Filter_Max_Depth = 66.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.178451 meters # Minimum depth: 396.210428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 346.210428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816446; longitude = -122.165023; captureRadius = 10; duration = 74; initialDepth = 346.210428; finalDepth = 346.164940; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.43089 # Altitude Set: 51.43089 # Vehicle Depth:346.210428 # Seafloor Depth:-397.641318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 123.43; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 66.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.178516 meters # Minimum depth: 396.210428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 346.210428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815998; longitude = -122.165317; captureRadius = 10; duration = 74; initialDepth = 346.210428; finalDepth = 346.210428; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.43089 # Altitude Set: 51.43089 # Vehicle Depth:346.210428 # Seafloor Depth:-397.002451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 123.43; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 66.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.178582 meters # Minimum depth: 398.645325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 348.645325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815550; longitude = -122.165610; captureRadius = 10; duration = 74; initialDepth = 348.645325; finalDepth = 346.210428; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.659236 # Altitude Set: 52.659236 # Vehicle Depth:348.645325 # Seafloor Depth:-401.304561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 126.38; MB_Bottom_Detect_Filter_Min_Depth = 39.49; MB_Bottom_Detect_Filter_Max_Depth = 68.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.527024 meters # Minimum depth: 400.369680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.369680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815102; longitude = -122.165904; captureRadius = 10; duration = 68; initialDepth = 350.369680; finalDepth = 348.645325; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.659236 # Altitude Set: 52.659236 # Vehicle Depth:350.36968 # Seafloor Depth:-401.104211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 126.38; MB_Bottom_Detect_Filter_Min_Depth = 39.49; MB_Bottom_Detect_Filter_Max_Depth = 68.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 16.702499 meters # Minimum depth: 400.050615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.050615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814691; longitude = -122.166173; captureRadius = 10; duration = 22; initialDepth = 350.050615; finalDepth = 350.369680; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.651999 # Altitude Set: 51.651999 # Vehicle Depth:350.050615 # Seafloor Depth:-401.702614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 123.96; MB_Bottom_Detect_Filter_Min_Depth = 38.74; MB_Bottom_Detect_Filter_Max_Depth = 67.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005802 meters # Minimum depth: 397.674429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 347.674429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814781; longitude = -122.166323; captureRadius = 10; duration = 66; initialDepth = 347.674429; finalDepth = 350.050615; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.198028 # Altitude Set: 52.198028 # Vehicle Depth:347.674429 # Seafloor Depth:-399.872457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 125.28; MB_Bottom_Detect_Filter_Min_Depth = 39.15; MB_Bottom_Detect_Filter_Max_Depth = 67.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005687 meters # Minimum depth: 393.264502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 343.264502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815052; longitude = -122.166771; captureRadius = 10; duration = 66; initialDepth = 343.264502; finalDepth = 347.674429; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.723458 # Altitude Set: 52.723458 # Vehicle Depth:343.264502 # Seafloor Depth:-395.987960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.54; MB_Bottom_Detect_Filter_Max_Range = 126.54; MB_Bottom_Detect_Filter_Min_Depth = 39.54; MB_Bottom_Detect_Filter_Max_Depth = 68.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005572 meters # Minimum depth: 388.671156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 338.671156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815323; longitude = -122.167219; captureRadius = 10; duration = 66; initialDepth = 338.671156; finalDepth = 343.264502; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.849348 # Altitude Set: 53.849348 # Vehicle Depth:338.671156 # Seafloor Depth:-392.520504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 129.24; MB_Bottom_Detect_Filter_Min_Depth = 40.39; MB_Bottom_Detect_Filter_Max_Depth = 70.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005456 meters # Minimum depth: 386.092741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 336.092741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815594; longitude = -122.167667; captureRadius = 10; duration = 66; initialDepth = 336.092741; finalDepth = 338.671156; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.849348 # Altitude Set: 53.849348 # Vehicle Depth:336.092741 # Seafloor Depth:-387.581214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 129.24; MB_Bottom_Detect_Filter_Min_Depth = 40.39; MB_Bottom_Detect_Filter_Max_Depth = 70.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005340 meters # Minimum depth: 381.727573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.727573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815865; longitude = -122.168115; captureRadius = 10; duration = 66; initialDepth = 331.727573; finalDepth = 336.092741; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.27934 # Altitude Set: 53.27934 # Vehicle Depth:331.727573 # Seafloor Depth:-385.006913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 127.87; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 69.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005225 meters # Minimum depth: 377.567279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.567279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816136; longitude = -122.168563; captureRadius = 10; duration = 66; initialDepth = 327.567279; finalDepth = 331.727573; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.27934 # Altitude Set: 53.27934 # Vehicle Depth:327.567279 # Seafloor Depth:-380.816035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 127.87; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 69.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.005110 meters # Minimum depth: 371.362348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 321.362348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816407; longitude = -122.169011; captureRadius = 10; duration = 66; initialDepth = 321.362348; finalDepth = 327.567279; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.333142 # Altitude Set: 56.333142 # Vehicle Depth:321.362348 # Seafloor Depth:-377.695490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.25; MB_Bottom_Detect_Filter_Max_Range = 135.20; MB_Bottom_Detect_Filter_Min_Depth = 42.25; MB_Bottom_Detect_Filter_Max_Depth = 73.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004995 meters # Minimum depth: 366.336481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 316.336481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816678; longitude = -122.169459; captureRadius = 10; duration = 66; initialDepth = 316.336481; finalDepth = 321.362348; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.333142 # Altitude Set: 56.333142 # Vehicle Depth:316.336481 # Seafloor Depth:-371.033154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.25; MB_Bottom_Detect_Filter_Max_Range = 135.20; MB_Bottom_Detect_Filter_Min_Depth = 42.25; MB_Bottom_Detect_Filter_Max_Depth = 73.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004878 meters # Minimum depth: 363.127901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 313.127901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816949; longitude = -122.169907; captureRadius = 10; duration = 66; initialDepth = 313.127901; finalDepth = 316.336481; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.696673 # Altitude Set: 54.696673 # Vehicle Depth:313.127901 # Seafloor Depth:-366.049626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 131.27; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 71.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004764 meters # Minimum depth: 359.809762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 309.809762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817220; longitude = -122.170355; captureRadius = 10; duration = 66; initialDepth = 309.809762; finalDepth = 313.127901; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.455748 # Altitude Set: 53.455748 # Vehicle Depth:309.809762 # Seafloor Depth:-363.265510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 128.29; MB_Bottom_Detect_Filter_Min_Depth = 40.09; MB_Bottom_Detect_Filter_Max_Depth = 69.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004648 meters # Minimum depth: 356.878439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 306.878439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817491; longitude = -122.170803; captureRadius = 10; duration = 66; initialDepth = 306.878439; finalDepth = 309.809762; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.455748 # Altitude Set: 53.455748 # Vehicle Depth:306.878439 # Seafloor Depth:-359.693269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 128.29; MB_Bottom_Detect_Filter_Min_Depth = 40.09; MB_Bottom_Detect_Filter_Max_Depth = 69.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004533 meters # Minimum depth: 355.673778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.673778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817762; longitude = -122.171251; captureRadius = 10; duration = 66; initialDepth = 305.673778; finalDepth = 306.878439; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.81483 # Altitude Set: 52.81483 # Vehicle Depth:305.673778 # Seafloor Depth:-356.781435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.61; MB_Bottom_Detect_Filter_Max_Range = 126.76; MB_Bottom_Detect_Filter_Min_Depth = 39.61; MB_Bottom_Detect_Filter_Max_Depth = 68.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004417 meters # Minimum depth: 355.490377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.490377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818032; longitude = -122.171699; captureRadius = 10; duration = 66; initialDepth = 305.490377; finalDepth = 305.673778; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.107657 # Altitude Set: 51.107657 # Vehicle Depth:305.490377 # Seafloor Depth:-355.970441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 122.66; MB_Bottom_Detect_Filter_Min_Depth = 38.33; MB_Bottom_Detect_Filter_Max_Depth = 66.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004302 meters # Minimum depth: 354.516270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.516270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818303; longitude = -122.172148; captureRadius = 10; duration = 66; initialDepth = 304.516270; finalDepth = 305.490377; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.480064 # Altitude Set: 50.480064 # Vehicle Depth:304.51627 # Seafloor Depth:-354.516270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.15; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.86; MB_Bottom_Detect_Filter_Max_Range = 121.15; MB_Bottom_Detect_Filter_Min_Depth = 37.86; MB_Bottom_Detect_Filter_Max_Depth = 65.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004186 meters # Minimum depth: 355.209475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.209475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818574; longitude = -122.172596; captureRadius = 10; duration = 66; initialDepth = 305.209475; finalDepth = 304.516270; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.440773 # Altitude Set: 50.440773 # Vehicle Depth:305.209475 # Seafloor Depth:-355.650248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.83; MB_Bottom_Detect_Filter_Max_Range = 121.06; MB_Bottom_Detect_Filter_Min_Depth = 37.83; MB_Bottom_Detect_Filter_Max_Depth = 65.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.004072 meters # Minimum depth: 355.661345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.661345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818845; longitude = -122.173044; captureRadius = 10; duration = 66; initialDepth = 305.661345; finalDepth = 305.209475; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.118113 # Altitude Set: 53.118113 # Vehicle Depth:305.661345 # Seafloor Depth:-358.779458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 127.48; MB_Bottom_Detect_Filter_Min_Depth = 39.84; MB_Bottom_Detect_Filter_Max_Depth = 69.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.003955 meters # Minimum depth: 359.478590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 309.478590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819116; longitude = -122.173492; captureRadius = 10; duration = 66; initialDepth = 309.478590; finalDepth = 305.661345; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.118113 # Altitude Set: 53.118113 # Vehicle Depth:309.47859 # Seafloor Depth:-361.253235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 127.48; MB_Bottom_Detect_Filter_Min_Depth = 39.84; MB_Bottom_Detect_Filter_Max_Depth = 69.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.003841 meters # Minimum depth: 361.408585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.408585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819387; longitude = -122.173940; captureRadius = 10; duration = 66; initialDepth = 311.408585; finalDepth = 309.478590; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.44823 # Altitude Set: 55.44823 # Vehicle Depth:311.408585 # Seafloor Depth:-366.856815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.59; MB_Bottom_Detect_Filter_Max_Range = 133.08; MB_Bottom_Detect_Filter_Min_Depth = 41.59; MB_Bottom_Detect_Filter_Max_Depth = 72.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.003724 meters # Minimum depth: 368.093614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 318.093614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819658; longitude = -122.174388; captureRadius = 10; duration = 66; initialDepth = 318.093614; finalDepth = 311.408585; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.44823 # Altitude Set: 55.44823 # Vehicle Depth:318.093614 # Seafloor Depth:-373.516446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.59; MB_Bottom_Detect_Filter_Max_Range = 133.08; MB_Bottom_Detect_Filter_Min_Depth = 41.59; MB_Bottom_Detect_Filter_Max_Depth = 72.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.003610 meters # Minimum depth: 373.237745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.237745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819929; longitude = -122.174836; captureRadius = 10; duration = 66; initialDepth = 323.237745; finalDepth = 318.093614; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.422832 # Altitude Set: 55.422832 # Vehicle Depth:323.237745 # Seafloor Depth:-376.600677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.57; MB_Bottom_Detect_Filter_Max_Range = 133.01; MB_Bottom_Detect_Filter_Min_Depth = 41.57; MB_Bottom_Detect_Filter_Max_Depth = 72.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 58.367361 meters # Minimum depth: 378.340371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 328.340371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820200; longitude = -122.175284; captureRadius = 10; duration = 77; initialDepth = 328.340371; finalDepth = 323.237745; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.906804 # Altitude Set: 53.906804 # Vehicle Depth:328.340371 # Seafloor Depth:-382.247175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.43; MB_Bottom_Detect_Filter_Max_Range = 129.38; MB_Bottom_Detect_Filter_Min_Depth = 40.43; MB_Bottom_Detect_Filter_Max_Depth = 70.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 13.284273 meters # Minimum depth: 378.340371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 328.340371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820516; longitude = -122.175807; captureRadius = 10; duration = 17; initialDepth = 328.340371; finalDepth = 328.340371; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.274436 # Altitude Set: 59.274436 # Vehicle Depth:328.340371 # Seafloor Depth:-387.614807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.46; MB_Bottom_Detect_Filter_Max_Range = 142.26; MB_Bottom_Detect_Filter_Min_Depth = 44.46; MB_Bottom_Detect_Filter_Max_Depth = 77.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.565024 meters # Minimum depth: 376.032947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 326.032947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820619; longitude = -122.175732; captureRadius = 10; duration = 79; initialDepth = 326.032947; finalDepth = 328.340371; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.274436 # Altitude Set: 59.274436 # Vehicle Depth:326.032947 # Seafloor Depth:-385.081665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.46; MB_Bottom_Detect_Filter_Max_Range = 142.26; MB_Bottom_Detect_Filter_Min_Depth = 44.46; MB_Bottom_Detect_Filter_Max_Depth = 77.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.789945 meters # Minimum depth: 370.499025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 320.499025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821083; longitude = -122.175396; captureRadius = 10; duration = 69; initialDepth = 320.499025; finalDepth = 326.032947; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.048718 # Altitude Set: 59.048718 # Vehicle Depth:320.499025 # Seafloor Depth:-375.586081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.29; MB_Bottom_Detect_Filter_Max_Range = 141.72; MB_Bottom_Detect_Filter_Min_Depth = 44.29; MB_Bottom_Detect_Filter_Max_Depth = 76.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519624 meters # Minimum depth: 362.679938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 312.679938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821487; longitude = -122.175104; captureRadius = 10; duration = 76; initialDepth = 312.679938; finalDepth = 320.499025; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.953908 # Altitude Set: 56.953908 # Vehicle Depth:312.679938 # Seafloor Depth:-369.633846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.72; MB_Bottom_Detect_Filter_Max_Range = 136.69; MB_Bottom_Detect_Filter_Min_Depth = 42.72; MB_Bottom_Detect_Filter_Max_Depth = 74.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519546 meters # Minimum depth: 355.606614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.606614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821935; longitude = -122.174779; captureRadius = 10; duration = 76; initialDepth = 305.606614; finalDepth = 312.679938; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.953908 # Altitude Set: 56.953908 # Vehicle Depth:305.606614 # Seafloor Depth:-361.094924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.72; MB_Bottom_Detect_Filter_Max_Range = 136.69; MB_Bottom_Detect_Filter_Min_Depth = 42.72; MB_Bottom_Detect_Filter_Max_Depth = 74.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519467 meters # Minimum depth: 350.427113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 300.427113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822383; longitude = -122.174455; captureRadius = 10; duration = 76; initialDepth = 300.427113; finalDepth = 305.606614; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.48831 # Altitude Set: 55.48831 # Vehicle Depth:300.427113 # Seafloor Depth:-354.071549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.62; MB_Bottom_Detect_Filter_Max_Range = 133.17; MB_Bottom_Detect_Filter_Min_Depth = 41.62; MB_Bottom_Detect_Filter_Max_Depth = 72.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519388 meters # Minimum depth: 346.597592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 296.597592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822831; longitude = -122.174130; captureRadius = 10; duration = 76; initialDepth = 296.597592; finalDepth = 300.427113; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.732755 # Altitude Set: 53.732755 # Vehicle Depth:296.597592 # Seafloor Depth:-350.330347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.30; MB_Bottom_Detect_Filter_Max_Range = 128.96; MB_Bottom_Detect_Filter_Min_Depth = 40.30; MB_Bottom_Detect_Filter_Max_Depth = 69.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519309 meters # Minimum depth: 341.480776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 291.480776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823279; longitude = -122.173806; captureRadius = 10; duration = 76; initialDepth = 291.480776; finalDepth = 296.597592; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.479507 # Altitude Set: 54.479507 # Vehicle Depth:291.480776 # Seafloor Depth:-345.960283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.86; MB_Bottom_Detect_Filter_Max_Range = 130.75; MB_Bottom_Detect_Filter_Min_Depth = 40.86; MB_Bottom_Detect_Filter_Max_Depth = 70.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.710724 meters # Minimum depth: 338.863828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 288.863828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823727; longitude = -122.173481; captureRadius = 10; duration = 76; initialDepth = 288.863828; finalDepth = 291.480776; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.479507 # Altitude Set: 54.479507 # Vehicle Depth:288.863828 # Seafloor Depth:-341.266910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.75; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.86; MB_Bottom_Detect_Filter_Max_Range = 130.75; MB_Bottom_Detect_Filter_Min_Depth = 40.86; MB_Bottom_Detect_Filter_Max_Depth = 70.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.564377 meters # Minimum depth: 337.918765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 287.918765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824177; longitude = -122.173156; captureRadius = 10; duration = 79; initialDepth = 287.918765; finalDepth = 288.863828; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.403082 # Altitude Set: 52.403082 # Vehicle Depth:287.918765 # Seafloor Depth:-338.856010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 125.77; MB_Bottom_Detect_Filter_Min_Depth = 39.30; MB_Bottom_Detect_Filter_Max_Depth = 68.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.564293 meters # Minimum depth: 332.512588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 282.512588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824641; longitude = -122.172820; captureRadius = 10; duration = 79; initialDepth = 282.512588; finalDepth = 287.918765; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.204702 # Altitude Set: 56.204702 # Vehicle Depth:282.512588 # Seafloor Depth:-338.717290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.15; MB_Bottom_Detect_Filter_Max_Range = 134.89; MB_Bottom_Detect_Filter_Min_Depth = 42.15; MB_Bottom_Detect_Filter_Max_Depth = 73.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.564208 meters # Minimum depth: 331.572015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.572015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825105; longitude = -122.172484; captureRadius = 10; duration = 79; initialDepth = 281.572015; finalDepth = 282.512588; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.204702 # Altitude Set: 56.204702 # Vehicle Depth:281.572015 # Seafloor Depth:-332.850593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.15; MB_Bottom_Detect_Filter_Max_Range = 134.89; MB_Bottom_Detect_Filter_Min_Depth = 42.15; MB_Bottom_Detect_Filter_Max_Depth = 73.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.191766 meters # Minimum depth: 330.093805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 280.093805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825569; longitude = -122.172148; captureRadius = 10; duration = 68; initialDepth = 280.093805; finalDepth = 281.572015; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.471354 # Altitude Set: 51.471354 # Vehicle Depth:280.093805 # Seafloor Depth:-331.565159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 123.53; MB_Bottom_Detect_Filter_Min_Depth = 38.60; MB_Bottom_Detect_Filter_Max_Depth = 66.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518837 meters # Minimum depth: 326.282367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 276.282367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825968; longitude = -122.171859; captureRadius = 10; duration = 76; initialDepth = 276.282367; finalDepth = 280.093805; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.468867 # Altitude Set: 53.468867 # Vehicle Depth:276.282367 # Seafloor Depth:-329.751234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 128.33; MB_Bottom_Detect_Filter_Min_Depth = 40.10; MB_Bottom_Detect_Filter_Max_Depth = 69.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.126873 meters # Minimum depth: 324.255248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 274.255248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826416; longitude = -122.171534; captureRadius = 10; duration = 66; initialDepth = 274.255248; finalDepth = 276.282367; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.468867 # Altitude Set: 53.468867 # Vehicle Depth:274.255248 # Seafloor Depth:-325.625068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 128.33; MB_Bottom_Detect_Filter_Min_Depth = 40.10; MB_Bottom_Detect_Filter_Max_Depth = 69.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.530903 meters # Minimum depth: 320.698041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 270.698041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826806; longitude = -122.171251; captureRadius = 10; duration = 67; initialDepth = 270.698041; finalDepth = 274.255248; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.548278 # Altitude Set: 53.548278 # Vehicle Depth:270.698041 # Seafloor Depth:-324.246319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 128.52; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 69.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518622 meters # Minimum depth: 317.147579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 267.147579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827200; longitude = -122.170966; captureRadius = 10; duration = 76; initialDepth = 267.147579; finalDepth = 270.698041; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.548278 # Altitude Set: 53.548278 # Vehicle Depth:267.147579 # Seafloor Depth:-319.852697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 128.52; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 69.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518542 meters # Minimum depth: 311.658016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 261.658016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827648; longitude = -122.170642; captureRadius = 10; duration = 76; initialDepth = 261.658016; finalDepth = 267.147579; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.829286 # Altitude Set: 54.829286 # Vehicle Depth:261.658016 # Seafloor Depth:-316.487302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.12; MB_Bottom_Detect_Filter_Max_Range = 131.59; MB_Bottom_Detect_Filter_Min_Depth = 41.12; MB_Bottom_Detect_Filter_Max_Depth = 71.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518464 meters # Minimum depth: 309.947985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 259.947985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828096; longitude = -122.170317; captureRadius = 10; duration = 76; initialDepth = 259.947985; finalDepth = 261.658016; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.829286 # Altitude Set: 54.829286 # Vehicle Depth:259.947985 # Seafloor Depth:-311.624083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.12; MB_Bottom_Detect_Filter_Max_Range = 131.59; MB_Bottom_Detect_Filter_Min_Depth = 41.12; MB_Bottom_Detect_Filter_Max_Depth = 71.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518385 meters # Minimum depth: 308.951932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 258.951932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828544; longitude = -122.169993; captureRadius = 10; duration = 76; initialDepth = 258.951932; finalDepth = 259.947985; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.676098 # Altitude Set: 51.676098 # Vehicle Depth:258.951932 # Seafloor Depth:-309.827668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.76; MB_Bottom_Detect_Filter_Max_Range = 124.02; MB_Bottom_Detect_Filter_Min_Depth = 38.76; MB_Bottom_Detect_Filter_Max_Depth = 67.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.518306 meters # Minimum depth: 307.444904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 257.444904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828992; longitude = -122.169668; captureRadius = 10; duration = 76; initialDepth = 257.444904; finalDepth = 258.951932; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.517321 # Altitude Set: 51.517321 # Vehicle Depth:257.444904 # Seafloor Depth:-308.962225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 123.64; MB_Bottom_Detect_Filter_Min_Depth = 38.64; MB_Bottom_Detect_Filter_Max_Depth = 66.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.967843 meters # Minimum depth: 306.663642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 256.663642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829440; longitude = -122.169344; captureRadius = 10; duration = 78; initialDepth = 256.663642; finalDepth = 257.444904; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.517321 # Altitude Set: 51.517321 # Vehicle Depth:256.663642 # Seafloor Depth:-307.449432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 123.64; MB_Bottom_Detect_Filter_Min_Depth = 38.64; MB_Bottom_Detect_Filter_Max_Depth = 66.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.563337 meters # Minimum depth: 306.160601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 256.160601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829899; longitude = -122.169011; captureRadius = 10; duration = 79; initialDepth = 256.160601; finalDepth = 256.663642; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.877591 # Altitude Set: 50.877591 # Vehicle Depth:256.160601 # Seafloor Depth:-307.038192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 122.11; MB_Bottom_Detect_Filter_Min_Depth = 38.16; MB_Bottom_Detect_Filter_Max_Depth = 66.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.563252 meters # Minimum depth: 304.530179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.530179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830363; longitude = -122.168675; captureRadius = 10; duration = 79; initialDepth = 254.530179; finalDepth = 256.160601; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.442311 # Altitude Set: 51.442311 # Vehicle Depth:254.530179 # Seafloor Depth:-305.972490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 123.46; MB_Bottom_Detect_Filter_Min_Depth = 38.58; MB_Bottom_Detect_Filter_Max_Depth = 66.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.978007 meters # Minimum depth: 303.735324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 253.735324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830827; longitude = -122.168339; captureRadius = 10; duration = 69; initialDepth = 253.735324; finalDepth = 254.530179; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.442311 # Altitude Set: 51.442311 # Vehicle Depth:253.735324 # Seafloor Depth:-305.086621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 123.46; MB_Bottom_Detect_Filter_Min_Depth = 38.58; MB_Bottom_Detect_Filter_Max_Depth = 66.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517913 meters # Minimum depth: 302.313219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 252.313219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831232; longitude = -122.168046; captureRadius = 10; duration = 76; initialDepth = 252.313219; finalDepth = 253.735324; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.351297 # Altitude Set: 51.351297 # Vehicle Depth:252.313219 # Seafloor Depth:-303.182498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.51; MB_Bottom_Detect_Filter_Max_Range = 123.24; MB_Bottom_Detect_Filter_Min_Depth = 38.51; MB_Bottom_Detect_Filter_Max_Depth = 66.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517834 meters # Minimum depth: 300.177671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 250.177671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831680; longitude = -122.167721; captureRadius = 10; duration = 76; initialDepth = 250.177671; finalDepth = 252.313219; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.490679 # Altitude Set: 51.490679 # Vehicle Depth:250.177671 # Seafloor Depth:-301.668350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 123.58; MB_Bottom_Detect_Filter_Min_Depth = 38.62; MB_Bottom_Detect_Filter_Max_Depth = 66.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517756 meters # Minimum depth: 297.534940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 247.534940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832128; longitude = -122.167397; captureRadius = 10; duration = 76; initialDepth = 247.534940; finalDepth = 250.177671; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.297375 # Altitude Set: 52.297375 # Vehicle Depth:247.53494 # Seafloor Depth:-299.832315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 125.51; MB_Bottom_Detect_Filter_Min_Depth = 39.22; MB_Bottom_Detect_Filter_Max_Depth = 67.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517677 meters # Minimum depth: 294.886421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 244.886421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832577; longitude = -122.167072; captureRadius = 10; duration = 76; initialDepth = 244.886421; finalDepth = 247.534940; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.324859 # Altitude Set: 52.324859 # Vehicle Depth:244.886421 # Seafloor Depth:-297.211280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 125.58; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 68.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517599 meters # Minimum depth: 292.783546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 242.783546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833025; longitude = -122.166748; captureRadius = 10; duration = 76; initialDepth = 242.783546; finalDepth = 244.886421; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.324859 # Altitude Set: 52.324859 # Vehicle Depth:242.783546 # Seafloor Depth:-294.736723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 125.58; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 68.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.519405 meters # Minimum depth: 290.861683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 240.861683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833473; longitude = -122.166423; captureRadius = 10; duration = 76; initialDepth = 240.861683; finalDepth = 242.783546; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.953177 # Altitude Set: 51.953177 # Vehicle Depth:240.861683 # Seafloor Depth:-292.658790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.96; MB_Bottom_Detect_Filter_Max_Range = 124.69; MB_Bottom_Detect_Filter_Min_Depth = 38.96; MB_Bottom_Detect_Filter_Max_Depth = 67.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.562605 meters # Minimum depth: 288.298816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 238.298816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833921; longitude = -122.166099; captureRadius = 10; duration = 79; initialDepth = 238.298816; finalDepth = 240.861683; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.089756 # Altitude Set: 53.089756 # Vehicle Depth:238.298816 # Seafloor Depth:-291.388572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 127.42; MB_Bottom_Detect_Filter_Min_Depth = 39.82; MB_Bottom_Detect_Filter_Max_Depth = 69.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.562521 meters # Minimum depth: 286.121148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 236.121148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834385; longitude = -122.165763; captureRadius = 10; duration = 79; initialDepth = 236.121148; finalDepth = 238.298816; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.089756 # Altitude Set: 53.089756 # Vehicle Depth:236.121148 # Seafloor Depth:-288.103139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 127.42; MB_Bottom_Detect_Filter_Min_Depth = 39.82; MB_Bottom_Detect_Filter_Max_Depth = 69.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.562437 meters # Minimum depth: 284.027430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 234.027430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834849; longitude = -122.165427; captureRadius = 10; duration = 79; initialDepth = 234.027430; finalDepth = 236.121148; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.981991 # Altitude Set: 51.981991 # Vehicle Depth:234.02743 # Seafloor Depth:-285.896923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.99; MB_Bottom_Detect_Filter_Max_Range = 124.76; MB_Bottom_Detect_Filter_Min_Depth = 38.99; MB_Bottom_Detect_Filter_Max_Depth = 67.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.379843 meters # Minimum depth: 284.027430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 234.027430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835313; longitude = -122.165090; captureRadius = 10; duration = 68; initialDepth = 234.027430; finalDepth = 234.027430; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.869493 # Altitude Set: 51.869493 # Vehicle Depth:234.02743 # Seafloor Depth:-284.108934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 124.49; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 67.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517127 meters # Minimum depth: 282.003509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 232.003509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835713; longitude = -122.164801; captureRadius = 10; duration = 76; initialDepth = 232.003509; finalDepth = 234.027430; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.778952 # Altitude Set: 51.778952 # Vehicle Depth:232.003509 # Seafloor Depth:-283.782461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 124.27; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 67.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.517047 meters # Minimum depth: 278.462628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 228.462628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836161; longitude = -122.164476; captureRadius = 10; duration = 76; initialDepth = 228.462628; finalDepth = 232.003509; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.331621 # Altitude Set: 53.331621 # Vehicle Depth:228.462628 # Seafloor Depth:-281.794249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 128.00; MB_Bottom_Detect_Filter_Min_Depth = 40.00; MB_Bottom_Detect_Filter_Max_Depth = 69.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516970 meters # Minimum depth: 270.772362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 220.772362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836609; longitude = -122.164152; captureRadius = 10; duration = 76; initialDepth = 220.772362; finalDepth = 228.462628; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.405053 # Altitude Set: 56.405053 # Vehicle Depth:220.772362 # Seafloor Depth:-277.177415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.30; MB_Bottom_Detect_Filter_Max_Range = 135.37; MB_Bottom_Detect_Filter_Min_Depth = 42.30; MB_Bottom_Detect_Filter_Max_Depth = 73.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516890 meters # Minimum depth: 266.264585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 216.264585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837057; longitude = -122.163827; captureRadius = 10; duration = 76; initialDepth = 216.264585; finalDepth = 220.772362; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.405053 # Altitude Set: 56.405053 # Vehicle Depth:216.264585 # Seafloor Depth:-270.754693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.30; MB_Bottom_Detect_Filter_Max_Range = 135.37; MB_Bottom_Detect_Filter_Min_Depth = 42.30; MB_Bottom_Detect_Filter_Max_Depth = 73.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516812 meters # Minimum depth: 257.682703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 207.682703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837505; longitude = -122.163503; captureRadius = 10; duration = 76; initialDepth = 207.682703; finalDepth = 216.264585; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.004121 # Altitude Set: 58.004121 # Vehicle Depth:207.682703 # Seafloor Depth:-265.686824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.50; MB_Bottom_Detect_Filter_Max_Range = 139.21; MB_Bottom_Detect_Filter_Min_Depth = 43.50; MB_Bottom_Detect_Filter_Max_Depth = 75.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.116065 meters # Minimum depth: 251.235819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 201.235819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837953; longitude = -122.163178; captureRadius = 10; duration = 77; initialDepth = 201.235819; finalDepth = 207.682703; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.004121 # Altitude Set: 58.004121 # Vehicle Depth:201.235819 # Seafloor Depth:-257.443788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.50; MB_Bottom_Detect_Filter_Max_Range = 139.21; MB_Bottom_Detect_Filter_Min_Depth = 43.50; MB_Bottom_Detect_Filter_Max_Depth = 75.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.561790 meters # Minimum depth: 243.019432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 193.019432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838406; longitude = -122.162850; captureRadius = 10; duration = 79; initialDepth = 193.019432; finalDepth = 201.235819; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.178449 # Altitude Set: 58.178449 # Vehicle Depth:193.019432 # Seafloor Depth:-251.197881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.63; MB_Bottom_Detect_Filter_Max_Range = 139.63; MB_Bottom_Detect_Filter_Min_Depth = 43.63; MB_Bottom_Detect_Filter_Max_Depth = 75.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.561706 meters # Minimum depth: 233.454219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 183.454219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838870; longitude = -122.162514; captureRadius = 10; duration = 79; initialDepth = 183.454219; finalDepth = 193.019432; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.073918 # Altitude Set: 59.073918 # Vehicle Depth:183.454219 # Seafloor Depth:-242.528137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.31; MB_Bottom_Detect_Filter_Max_Range = 141.78; MB_Bottom_Detect_Filter_Min_Depth = 44.31; MB_Bottom_Detect_Filter_Max_Depth = 76.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.561621 meters # Minimum depth: 221.559571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 171.559571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839334; longitude = -122.162178; captureRadius = 10; duration = 79; initialDepth = 171.559571; finalDepth = 183.454219; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.078893 # Altitude Set: 60 # Vehicle Depth:171.559571 # Seafloor Depth:-232.638464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.781696 meters # Minimum depth: 212.454030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 162.454030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839798; longitude = -122.161842; captureRadius = 10; duration = 67; initialDepth = 162.454030; finalDepth = 171.559571; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.078893 # Altitude Set: 60 # Vehicle Depth:162.45403 # Seafloor Depth:-220.078222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516340 meters # Minimum depth: 202.110546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 152.110546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840194; longitude = -122.161555; captureRadius = 10; duration = 76; initialDepth = 152.110546; finalDepth = 162.454030; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.210818 # Altitude Set: 59.210818 # Vehicle Depth:152.110546 # Seafloor Depth:-211.321364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.41; MB_Bottom_Detect_Filter_Max_Range = 142.11; MB_Bottom_Detect_Filter_Min_Depth = 44.41; MB_Bottom_Detect_Filter_Max_Depth = 76.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.532541 meters # Minimum depth: 193.606409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 143.606409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840642; longitude = -122.161231; captureRadius = 10; duration = 67; initialDepth = 143.606409; finalDepth = 152.110546; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.210818 # Altitude Set: 59.210818 # Vehicle Depth:143.606409 # Seafloor Depth:-199.614762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.41; MB_Bottom_Detect_Filter_Max_Range = 142.11; MB_Bottom_Detect_Filter_Min_Depth = 44.41; MB_Bottom_Detect_Filter_Max_Depth = 76.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.120864 meters # Minimum depth: 185.674778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 135.674778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841035; longitude = -122.160946; captureRadius = 10; duration = 66; initialDepth = 135.674778; finalDepth = 143.606409; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.532225 # Altitude Set: 56.532225 # Vehicle Depth:135.674778 # Seafloor Depth:-192.207003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.40; MB_Bottom_Detect_Filter_Max_Range = 135.68; MB_Bottom_Detect_Filter_Min_Depth = 42.40; MB_Bottom_Detect_Filter_Max_Depth = 73.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516124 meters # Minimum depth: 176.993158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 126.993158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841426; longitude = -122.160663; captureRadius = 10; duration = 76; initialDepth = 126.993158; finalDepth = 135.674778; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.770042 # Altitude Set: 56.770042 # Vehicle Depth:126.993158 # Seafloor Depth:-183.763200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.58; MB_Bottom_Detect_Filter_Max_Range = 136.25; MB_Bottom_Detect_Filter_Min_Depth = 42.58; MB_Bottom_Detect_Filter_Max_Depth = 73.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.516045 meters # Minimum depth: 168.534577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 118.534577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841874; longitude = -122.160339; captureRadius = 10; duration = 76; initialDepth = 118.534577; finalDepth = 126.993158; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.886054 # Altitude Set: 56.886054 # Vehicle Depth:118.534577 # Seafloor Depth:-175.420631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 136.53; MB_Bottom_Detect_Filter_Min_Depth = 42.66; MB_Bottom_Detect_Filter_Max_Depth = 73.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.515966 meters # Minimum depth: 158.100411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 108.100411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842322; longitude = -122.160014; captureRadius = 10; duration = 76; initialDepth = 108.100411; finalDepth = 118.534577; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.552812 # Altitude Set: 59.552812 # Vehicle Depth:108.100411 # Seafloor Depth:-167.653223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 142.93; MB_Bottom_Detect_Filter_Min_Depth = 44.66; MB_Bottom_Detect_Filter_Max_Depth = 77.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.515887 meters # Minimum depth: 148.403861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 98.403861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842770; longitude = -122.159690; captureRadius = 10; duration = 76; initialDepth = 98.403861; finalDepth = 108.100411; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.552812 # Altitude Set: 59.552812 # Vehicle Depth:98.403861 # Seafloor Depth:-157.442162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 142.93; MB_Bottom_Detect_Filter_Min_Depth = 44.66; MB_Bottom_Detect_Filter_Max_Depth = 77.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 57.515809 meters # Minimum depth: 141.985898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 91.985898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843218; longitude = -122.159365; captureRadius = 10; duration = 76; initialDepth = 91.985898; finalDepth = 98.403861; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.038301 # Altitude Set: 59.038301 # Vehicle Depth:91.985898 # Seafloor Depth:-148.107465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.28; MB_Bottom_Detect_Filter_Max_Range = 141.69; MB_Bottom_Detect_Filter_Min_Depth = 44.28; MB_Bottom_Detect_Filter_Max_Depth = 76.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 52.731991 meters # Minimum depth: 139.916754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 89.916754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843666; longitude = -122.159041; captureRadius = 10; duration = 70; initialDepth = 89.916754; finalDepth = 91.985898; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.121567 # Altitude Set: 56.121567 # Vehicle Depth:89.916754 # Seafloor Depth:-141.972760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.09; MB_Bottom_Detect_Filter_Max_Range = 134.69; MB_Bottom_Detect_Filter_Min_Depth = 42.09; MB_Bottom_Detect_Filter_Max_Depth = 72.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 9.269778 meters # Minimum depth: 139.478550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 89.478550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844077; longitude = -122.158743; captureRadius = 10; duration = 12; initialDepth = 89.478550; finalDepth = 89.916754; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.056006 # Altitude Set: 52.056006 # Vehicle Depth:89.47855 # Seafloor Depth:-139.677647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 124.93; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 67.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.565173 meters # Minimum depth: 138.060367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 88.060367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844002; longitude = -122.158697; captureRadius = 10; duration = 74; initialDepth = 88.060367; finalDepth = 89.478550; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.4033 # Altitude Set: 51.4033 # Vehicle Depth:88.060367 # Seafloor Depth:-139.463667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 123.37; MB_Bottom_Detect_Filter_Min_Depth = 38.55; MB_Bottom_Detect_Filter_Max_Depth = 66.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.565237 meters # Minimum depth: 137.165048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 87.165048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843554; longitude = -122.158418; captureRadius = 10; duration = 74; initialDepth = 87.165048; finalDepth = 88.060367; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.4033 # Altitude Set: 51.4033 # Vehicle Depth:87.165048 # Seafloor Depth:-137.834592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 123.37; MB_Bottom_Detect_Filter_Min_Depth = 38.55; MB_Bottom_Detect_Filter_Max_Depth = 66.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.983212 meters # Minimum depth: 137.149842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 87.149842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843106; longitude = -122.158140; captureRadius = 10; duration = 67; initialDepth = 87.149842; finalDepth = 87.165048; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.669544 # Altitude Set: 50.669544 # Vehicle Depth:87.149842 # Seafloor Depth:-137.149842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 121.61; MB_Bottom_Detect_Filter_Min_Depth = 38.00; MB_Bottom_Detect_Filter_Max_Depth = 65.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 6.656914 meters # Minimum depth: 137.149842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 87.149842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842695; longitude = -122.157884; captureRadius = 10; duration = 8; initialDepth = 87.149842; finalDepth = 87.149842; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.250079 # Altitude Set: 51.250079 # Vehicle Depth:87.149842 # Seafloor Depth:-138.399921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 123.00; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 66.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.792560 meters # Minimum depth: 137.443409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 87.443409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842643; longitude = -122.157921; captureRadius = 10; duration = 79; initialDepth = 87.443409; finalDepth = 87.149842; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.916883 # Altitude Set: 51.916883 # Vehicle Depth:87.443409 # Seafloor Depth:-139.360292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.60; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.94; MB_Bottom_Detect_Filter_Max_Range = 124.60; MB_Bottom_Detect_Filter_Min_Depth = 38.94; MB_Bottom_Detect_Filter_Max_Depth = 67.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.792643 meters # Minimum depth: 140.453854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 90.453854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842177; longitude = -122.158257; captureRadius = 10; duration = 79; initialDepth = 90.453854; finalDepth = 87.443409; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.089822 # Altitude Set: 52.089822 # Vehicle Depth:90.453854 # Seafloor Depth:-142.543676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.02; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.817445 meters # Minimum depth: 142.936300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.936300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841710; longitude = -122.158594; captureRadius = 10; duration = 67; initialDepth = 92.936300; finalDepth = 90.453854; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.993965 # Altitude Set: 57.993965 # Vehicle Depth:92.9363 # Seafloor Depth:-150.930265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.50; MB_Bottom_Detect_Filter_Max_Range = 139.19; MB_Bottom_Detect_Filter_Min_Depth = 43.50; MB_Bottom_Detect_Filter_Max_Depth = 75.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441095 meters # Minimum depth: 154.531710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 104.531710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841314; longitude = -122.158879; captureRadius = 10; duration = 76; initialDepth = 104.531710; finalDepth = 92.936300; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.993965 # Altitude Set: 57.993965 # Vehicle Depth:104.53171 # Seafloor Depth:-159.114257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.50; MB_Bottom_Detect_Filter_Max_Range = 139.19; MB_Bottom_Detect_Filter_Min_Depth = 43.50; MB_Bottom_Detect_Filter_Max_Depth = 75.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441172 meters # Minimum depth: 163.657472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 113.657472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840866; longitude = -122.159202; captureRadius = 10; duration = 76; initialDepth = 113.657472; finalDepth = 104.531710; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.582547 # Altitude Set: 54.582547 # Vehicle Depth:113.657472 # Seafloor Depth:-167.690976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.94; MB_Bottom_Detect_Filter_Max_Range = 131.00; MB_Bottom_Detect_Filter_Min_Depth = 40.94; MB_Bottom_Detect_Filter_Max_Depth = 70.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441249 meters # Minimum depth: 171.814775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 121.814775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840418; longitude = -122.159525; captureRadius = 10; duration = 76; initialDepth = 121.814775; finalDepth = 113.657472; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.033504 # Altitude Set: 54.033504 # Vehicle Depth:121.814775 # Seafloor Depth:-175.643038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.53; MB_Bottom_Detect_Filter_Max_Range = 129.68; MB_Bottom_Detect_Filter_Min_Depth = 40.53; MB_Bottom_Detect_Filter_Max_Depth = 70.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441328 meters # Minimum depth: 177.714929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 127.714929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839970; longitude = -122.159848; captureRadius = 10; duration = 76; initialDepth = 127.714929; finalDepth = 121.814775; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.828263 # Altitude Set: 53.828263 # Vehicle Depth:127.714929 # Seafloor Depth:-180.002479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.37; MB_Bottom_Detect_Filter_Max_Range = 129.19; MB_Bottom_Detect_Filter_Min_Depth = 40.37; MB_Bottom_Detect_Filter_Max_Depth = 69.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.244287 meters # Minimum depth: 181.628682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 131.628682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839522; longitude = -122.160170; captureRadius = 10; duration = 77; initialDepth = 131.628682; finalDepth = 127.714929; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.676819 # Altitude Set: 53.676819 # Vehicle Depth:131.628682 # Seafloor Depth:-185.305501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.26; MB_Bottom_Detect_Filter_Max_Range = 128.82; MB_Bottom_Detect_Filter_Min_Depth = 40.26; MB_Bottom_Detect_Filter_Max_Depth = 69.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.793207 meters # Minimum depth: 188.911504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 138.911504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839067; longitude = -122.160498; captureRadius = 10; duration = 79; initialDepth = 138.911504; finalDepth = 131.628682; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.402296 # Altitude Set: 56.402296 # Vehicle Depth:138.911504 # Seafloor Depth:-195.313800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.30; MB_Bottom_Detect_Filter_Max_Range = 135.37; MB_Bottom_Detect_Filter_Min_Depth = 42.30; MB_Bottom_Detect_Filter_Max_Depth = 73.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.793290 meters # Minimum depth: 197.162803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 147.162803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838601; longitude = -122.160834; captureRadius = 10; duration = 79; initialDepth = 147.162803; finalDepth = 138.911504; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.402296 # Altitude Set: 56.402296 # Vehicle Depth:147.162803 # Seafloor Depth:-202.653109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.30; MB_Bottom_Detect_Filter_Max_Range = 135.37; MB_Bottom_Detect_Filter_Min_Depth = 42.30; MB_Bottom_Detect_Filter_Max_Depth = 73.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.935307 meters # Minimum depth: 210.022774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 160.022774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838134; longitude = -122.161170; captureRadius = 10; duration = 69; initialDepth = 160.022774; finalDepth = 147.162803; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.490306 # Altitude Set: 55.490306 # Vehicle Depth:160.022774 # Seafloor Depth:-212.115917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.62; MB_Bottom_Detect_Filter_Max_Range = 133.18; MB_Bottom_Detect_Filter_Min_Depth = 41.62; MB_Bottom_Detect_Filter_Max_Depth = 72.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441717 meters # Minimum depth: 212.207174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 162.207174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837729; longitude = -122.161462; captureRadius = 10; duration = 76; initialDepth = 162.207174; finalDepth = 160.022774; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.256676 # Altitude Set: 58.256676 # Vehicle Depth:162.207174 # Seafloor Depth:-220.463850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.69; MB_Bottom_Detect_Filter_Max_Range = 139.82; MB_Bottom_Detect_Filter_Min_Depth = 43.69; MB_Bottom_Detect_Filter_Max_Depth = 75.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.072165 meters # Minimum depth: 222.916784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 172.916784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837281; longitude = -122.161785; captureRadius = 10; duration = 66; initialDepth = 172.916784; finalDepth = 162.207174; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.256676 # Altitude Set: 58.256676 # Vehicle Depth:172.916784 # Seafloor Depth:-230.759120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.69; MB_Bottom_Detect_Filter_Max_Range = 139.82; MB_Bottom_Detect_Filter_Min_Depth = 43.69; MB_Bottom_Detect_Filter_Max_Depth = 75.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.451028 meters # Minimum depth: 231.388237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 181.388237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836891; longitude = -122.162066; captureRadius = 10; duration = 67; initialDepth = 181.388237; finalDepth = 172.916784; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.842336 # Altitude Set: 57.842336 # Vehicle Depth:181.388237 # Seafloor Depth:-238.223513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.38; MB_Bottom_Detect_Filter_Max_Range = 138.82; MB_Bottom_Detect_Filter_Min_Depth = 43.38; MB_Bottom_Detect_Filter_Max_Depth = 75.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.441931 meters # Minimum depth: 242.335536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 192.335536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836497; longitude = -122.162350; captureRadius = 10; duration = 76; initialDepth = 192.335536; finalDepth = 181.388237; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.835276 # Altitude Set: 56.835276 # Vehicle Depth:192.335536 # Seafloor Depth:-246.657936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.63; MB_Bottom_Detect_Filter_Max_Range = 136.40; MB_Bottom_Detect_Filter_Min_Depth = 42.63; MB_Bottom_Detect_Filter_Max_Depth = 73.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442010 meters # Minimum depth: 250.503374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 200.503374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836049; longitude = -122.162672; captureRadius = 10; duration = 76; initialDepth = 200.503374; finalDepth = 192.335536; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.107932 # Altitude Set: 55.107932 # Vehicle Depth:200.503374 # Seafloor Depth:-255.611306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.33; MB_Bottom_Detect_Filter_Max_Range = 132.26; MB_Bottom_Detect_Filter_Min_Depth = 41.33; MB_Bottom_Detect_Filter_Max_Depth = 71.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442087 meters # Minimum depth: 259.257074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 209.257074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835601; longitude = -122.162995; captureRadius = 10; duration = 76; initialDepth = 209.257074; finalDepth = 200.503374; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.107932 # Altitude Set: 55.107932 # Vehicle Depth:209.257074 # Seafloor Depth:-263.281409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.33; MB_Bottom_Detect_Filter_Max_Range = 132.26; MB_Bottom_Detect_Filter_Min_Depth = 41.33; MB_Bottom_Detect_Filter_Max_Depth = 71.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442166 meters # Minimum depth: 265.969684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 215.969684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835153; longitude = -122.163318; captureRadius = 10; duration = 76; initialDepth = 215.969684; finalDepth = 209.257074; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.024335 # Altitude Set: 54.024335 # Vehicle Depth:215.969684 # Seafloor Depth:-267.719865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 129.66; MB_Bottom_Detect_Filter_Min_Depth = 40.52; MB_Bottom_Detect_Filter_Max_Depth = 70.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.612296 meters # Minimum depth: 269.245739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 219.245739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834705; longitude = -122.163641; captureRadius = 10; duration = 78; initialDepth = 219.245739; finalDepth = 215.969684; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.506201 # Altitude Set: 52.506201 # Vehicle Depth:219.245739 # Seafloor Depth:-271.751940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 126.01; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 68.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.794079 meters # Minimum depth: 272.803720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 222.803720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834248; longitude = -122.163970; captureRadius = 10; duration = 79; initialDepth = 222.803720; finalDepth = 219.245739; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.02418 # Altitude Set: 53.02418 # Vehicle Depth:222.80372 # Seafloor Depth:-275.827900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 127.26; MB_Bottom_Detect_Filter_Min_Depth = 39.77; MB_Bottom_Detect_Filter_Max_Depth = 68.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.794163 meters # Minimum depth: 277.017994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 227.017994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833781; longitude = -122.164306; captureRadius = 10; duration = 79; initialDepth = 227.017994; finalDepth = 222.803720; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.923198 # Altitude Set: 53.923198 # Vehicle Depth:227.017994 # Seafloor Depth:-280.941192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.44; MB_Bottom_Detect_Filter_Max_Range = 129.42; MB_Bottom_Detect_Filter_Min_Depth = 40.44; MB_Bottom_Detect_Filter_Max_Depth = 70.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.568902 meters # Minimum depth: 282.205955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 232.205955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833315; longitude = -122.164642; captureRadius = 10; duration = 68; initialDepth = 232.205955; finalDepth = 227.017994; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.153198 # Altitude Set: 54.153198 # Vehicle Depth:232.205955 # Seafloor Depth:-286.359153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.61; MB_Bottom_Detect_Filter_Max_Range = 129.97; MB_Bottom_Detect_Filter_Min_Depth = 40.61; MB_Bottom_Detect_Filter_Max_Depth = 70.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442555 meters # Minimum depth: 288.256110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 238.256110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832913; longitude = -122.164932; captureRadius = 10; duration = 76; initialDepth = 238.256110; finalDepth = 232.205955; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.153198 # Altitude Set: 54.153198 # Vehicle Depth:238.25611 # Seafloor Depth:-290.863767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.61; MB_Bottom_Detect_Filter_Max_Range = 129.97; MB_Bottom_Detect_Filter_Min_Depth = 40.61; MB_Bottom_Detect_Filter_Max_Depth = 70.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.440058 meters # Minimum depth: 291.399878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 241.399878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832465; longitude = -122.165255; captureRadius = 10; duration = 67; initialDepth = 241.399878; finalDepth = 238.256110; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.739183 # Altitude Set: 52.739183 # Vehicle Depth:241.399878 # Seafloor Depth:-294.139061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 126.57; MB_Bottom_Detect_Filter_Min_Depth = 39.55; MB_Bottom_Detect_Filter_Max_Depth = 68.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.084600 meters # Minimum depth: 294.513097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 244.513097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832071; longitude = -122.165539; captureRadius = 10; duration = 66; initialDepth = 244.513097; finalDepth = 241.399878; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.264734 # Altitude Set: 53.264734 # Vehicle Depth:244.513097 # Seafloor Depth:-297.777831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.95; MB_Bottom_Detect_Filter_Max_Range = 127.84; MB_Bottom_Detect_Filter_Min_Depth = 39.95; MB_Bottom_Detect_Filter_Max_Depth = 69.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442769 meters # Minimum depth: 299.250742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 249.250742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831680; longitude = -122.165820; captureRadius = 10; duration = 76; initialDepth = 249.250742; finalDepth = 244.513097; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.264734 # Altitude Set: 53.264734 # Vehicle Depth:249.250742 # Seafloor Depth:-301.786565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.95; MB_Bottom_Detect_Filter_Max_Range = 127.84; MB_Bottom_Detect_Filter_Min_Depth = 39.95; MB_Bottom_Detect_Filter_Max_Depth = 69.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442847 meters # Minimum depth: 303.375246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 253.375246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831232; longitude = -122.166143; captureRadius = 10; duration = 76; initialDepth = 253.375246; finalDepth = 249.250742; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.535823 # Altitude Set: 52.535823 # Vehicle Depth:253.375246 # Seafloor Depth:-304.724798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 39.40; MB_Bottom_Detect_Filter_Max_Depth = 68.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.442925 meters # Minimum depth: 305.792792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 255.792792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830784; longitude = -122.166466; captureRadius = 10; duration = 76; initialDepth = 255.792792; finalDepth = 253.375246; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.865615 # Altitude Set: 52.865615 # Vehicle Depth:255.792792 # Seafloor Depth:-308.658407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 126.88; MB_Bottom_Detect_Filter_Min_Depth = 39.65; MB_Bottom_Detect_Filter_Max_Depth = 68.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.443003 meters # Minimum depth: 310.874476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 260.874476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830336; longitude = -122.166789; captureRadius = 10; duration = 76; initialDepth = 260.874476; finalDepth = 255.792792; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.865615 # Altitude Set: 52.865615 # Vehicle Depth:260.874476 # Seafloor Depth:-312.012420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 126.88; MB_Bottom_Detect_Filter_Min_Depth = 39.65; MB_Bottom_Detect_Filter_Max_Depth = 68.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.980318 meters # Minimum depth: 308.039399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 258.039399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829888; longitude = -122.167111; captureRadius = 10; duration = 78; initialDepth = 258.039399; finalDepth = 260.874476; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.45633 # Altitude Set: 53.45633 # Vehicle Depth:258.039399 # Seafloor Depth:-311.495729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 128.30; MB_Bottom_Detect_Filter_Min_Depth = 40.09; MB_Bottom_Detect_Filter_Max_Depth = 69.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.794951 meters # Minimum depth: 307.197312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 257.197312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829428; longitude = -122.167443; captureRadius = 10; duration = 79; initialDepth = 257.197312; finalDepth = 258.039399; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.45633 # Altitude Set: 53.45633 # Vehicle Depth:257.197312 # Seafloor Depth:-307.966180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 128.30; MB_Bottom_Detect_Filter_Min_Depth = 40.09; MB_Bottom_Detect_Filter_Max_Depth = 69.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.795035 meters # Minimum depth: 305.037226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 255.037226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828962; longitude = -122.167779; captureRadius = 10; duration = 79; initialDepth = 255.037226; finalDepth = 257.197312; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.87073 # Altitude Set: 51.87073 # Vehicle Depth:255.037226 # Seafloor Depth:-306.907956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 124.49; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 67.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.202487 meters # Minimum depth: 304.432383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.432383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828495; longitude = -122.168115; captureRadius = 10; duration = 68; initialDepth = 254.432383; finalDepth = 255.037226; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.87073 # Altitude Set: 51.87073 # Vehicle Depth:254.432383 # Seafloor Depth:-304.854554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 124.49; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 67.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.443392 meters # Minimum depth: 304.432383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.432383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828096; longitude = -122.168403; captureRadius = 10; duration = 76; initialDepth = 254.432383; finalDepth = 254.432383; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.590755 # Altitude Set: 51.590755 # Vehicle Depth:254.432383 # Seafloor Depth:-306.023138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 123.82; MB_Bottom_Detect_Filter_Min_Depth = 38.69; MB_Bottom_Detect_Filter_Max_Depth = 67.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.443470 meters # Minimum depth: 306.830258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 256.830258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827648; longitude = -122.168726; captureRadius = 10; duration = 76; initialDepth = 256.830258; finalDepth = 254.432383; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.590755 # Altitude Set: 51.590755 # Vehicle Depth:256.830258 # Seafloor Depth:-307.139871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 123.82; MB_Bottom_Detect_Filter_Min_Depth = 38.69; MB_Bottom_Detect_Filter_Max_Depth = 67.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.443549 meters # Minimum depth: 307.928987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 257.928987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827200; longitude = -122.169048; captureRadius = 10; duration = 76; initialDepth = 257.928987; finalDepth = 256.830258; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.336029 # Altitude Set: 51.336029 # Vehicle Depth:257.928987 # Seafloor Depth:-309.265016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 123.21; MB_Bottom_Detect_Filter_Min_Depth = 38.50; MB_Bottom_Detect_Filter_Max_Depth = 66.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.443626 meters # Minimum depth: 311.614842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 261.614842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826752; longitude = -122.169371; captureRadius = 10; duration = 76; initialDepth = 261.614842; finalDepth = 257.928987; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.336029 # Altitude Set: 51.336029 # Vehicle Depth:261.614842 # Seafloor Depth:-312.046387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 123.21; MB_Bottom_Detect_Filter_Min_Depth = 38.50; MB_Bottom_Detect_Filter_Max_Depth = 66.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.863606 meters # Minimum depth: 313.389124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 263.389124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826304; longitude = -122.169694; captureRadius = 10; duration = 77; initialDepth = 263.389124; finalDepth = 261.614842; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.484179 # Altitude Set: 51.484179 # Vehicle Depth:263.389124 # Seafloor Depth:-314.873303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 123.56; MB_Bottom_Detect_Filter_Min_Depth = 38.61; MB_Bottom_Detect_Filter_Max_Depth = 66.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.795598 meters # Minimum depth: 315.878762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 265.878762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825852; longitude = -122.170019; captureRadius = 10; duration = 79; initialDepth = 265.878762; finalDepth = 263.389124; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.055017 # Altitude Set: 53.055017 # Vehicle Depth:265.878762 # Seafloor Depth:-318.933779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 127.33; MB_Bottom_Detect_Filter_Min_Depth = 39.79; MB_Bottom_Detect_Filter_Max_Depth = 68.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.795683 meters # Minimum depth: 319.069700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 269.069700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825386; longitude = -122.170355; captureRadius = 10; duration = 79; initialDepth = 269.069700; finalDepth = 265.878762; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.055017 # Altitude Set: 53.055017 # Vehicle Depth:269.0697 # Seafloor Depth:-321.411378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 127.33; MB_Bottom_Detect_Filter_Min_Depth = 39.79; MB_Bottom_Detect_Filter_Max_Depth = 68.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.320397 meters # Minimum depth: 322.410984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.410984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824919; longitude = -122.170691; captureRadius = 10; duration = 69; initialDepth = 272.410984; finalDepth = 269.069700; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.341678 # Altitude Set: 52.341678 # Vehicle Depth:272.410984 # Seafloor Depth:-324.354201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.26; MB_Bottom_Detect_Filter_Max_Range = 125.62; MB_Bottom_Detect_Filter_Min_Depth = 39.26; MB_Bottom_Detect_Filter_Max_Depth = 68.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444015 meters # Minimum depth: 325.219499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 275.219499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824511; longitude = -122.170985; captureRadius = 10; duration = 76; initialDepth = 275.219499; finalDepth = 272.410984; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.103363 # Altitude Set: 52.103363 # Vehicle Depth:275.219499 # Seafloor Depth:-327.322862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.05; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444094 meters # Minimum depth: 327.526310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 277.526310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824063; longitude = -122.171308; captureRadius = 10; duration = 76; initialDepth = 277.526310; finalDepth = 275.219499; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.690691 # Altitude Set: 52.690691 # Vehicle Depth:277.52631 # Seafloor Depth:-330.217001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 126.46; MB_Bottom_Detect_Filter_Min_Depth = 39.52; MB_Bottom_Detect_Filter_Max_Depth = 68.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444172 meters # Minimum depth: 331.866066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.866066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823615; longitude = -122.171631; captureRadius = 10; duration = 76; initialDepth = 281.866066; finalDepth = 277.526310; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.690691 # Altitude Set: 52.690691 # Vehicle Depth:281.866066 # Seafloor Depth:-332.682187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 126.46; MB_Bottom_Detect_Filter_Min_Depth = 39.52; MB_Bottom_Detect_Filter_Max_Depth = 68.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444249 meters # Minimum depth: 333.219497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 283.219497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823167; longitude = -122.171954; captureRadius = 10; duration = 76; initialDepth = 283.219497; finalDepth = 281.866066; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.227036 # Altitude Set: 52.227036 # Vehicle Depth:283.219497 # Seafloor Depth:-335.446533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 125.34; MB_Bottom_Detect_Filter_Min_Depth = 39.17; MB_Bottom_Detect_Filter_Max_Depth = 67.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444328 meters # Minimum depth: 335.497993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.497993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822719; longitude = -122.172277; captureRadius = 10; duration = 76; initialDepth = 285.497993; finalDepth = 283.219497; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.227036 # Altitude Set: 52.227036 # Vehicle Depth:285.497993 # Seafloor Depth:-336.278873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 125.34; MB_Bottom_Detect_Filter_Min_Depth = 39.17; MB_Bottom_Detect_Filter_Max_Depth = 67.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.098789 meters # Minimum depth: 336.735079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 286.735079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822271; longitude = -122.172600; captureRadius = 10; duration = 78; initialDepth = 286.735079; finalDepth = 285.497993; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.134428 # Altitude Set: 53.134428 # Vehicle Depth:286.735079 # Seafloor Depth:-339.869507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.85; MB_Bottom_Detect_Filter_Max_Range = 127.52; MB_Bottom_Detect_Filter_Min_Depth = 39.85; MB_Bottom_Detect_Filter_Max_Depth = 69.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.796330 meters # Minimum depth: 339.170095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 289.170095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821810; longitude = -122.172932; captureRadius = 10; duration = 79; initialDepth = 289.170095; finalDepth = 286.735079; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.315884 # Altitude Set: 53.315884 # Vehicle Depth:289.170095 # Seafloor Depth:-342.485979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.99; MB_Bottom_Detect_Filter_Max_Range = 127.96; MB_Bottom_Detect_Filter_Min_Depth = 39.99; MB_Bottom_Detect_Filter_Max_Depth = 69.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.796415 meters # Minimum depth: 343.076438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 293.076438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821344; longitude = -122.173268; captureRadius = 10; duration = 79; initialDepth = 293.076438; finalDepth = 289.170095; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.852114 # Altitude Set: 55.852114 # Vehicle Depth:293.076438 # Seafloor Depth:-348.928552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 134.05; MB_Bottom_Detect_Filter_Min_Depth = 41.89; MB_Bottom_Detect_Filter_Max_Depth = 72.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.086555 meters # Minimum depth: 349.155606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 299.155606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820877; longitude = -122.173604; captureRadius = 10; duration = 68; initialDepth = 299.155606; finalDepth = 293.076438; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.852114 # Altitude Set: 55.852114 # Vehicle Depth:299.155606 # Seafloor Depth:-352.484031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 134.05; MB_Bottom_Detect_Filter_Min_Depth = 41.89; MB_Bottom_Detect_Filter_Max_Depth = 72.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444717 meters # Minimum depth: 353.859577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 303.859577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820479; longitude = -122.173891; captureRadius = 10; duration = 76; initialDepth = 303.859577; finalDepth = 299.155606; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.328425 # Altitude Set: 53.328425 # Vehicle Depth:303.859577 # Seafloor Depth:-356.736609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 127.99; MB_Bottom_Detect_Filter_Min_Depth = 40.00; MB_Bottom_Detect_Filter_Max_Depth = 69.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444795 meters # Minimum depth: 360.233279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 310.233279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820031; longitude = -122.174214; captureRadius = 10; duration = 76; initialDepth = 310.233279; finalDepth = 303.859577; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.585177 # Altitude Set: 54.585177 # Vehicle Depth:310.233279 # Seafloor Depth:-364.818456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.94; MB_Bottom_Detect_Filter_Max_Range = 131.00; MB_Bottom_Detect_Filter_Min_Depth = 40.94; MB_Bottom_Detect_Filter_Max_Depth = 70.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444873 meters # Minimum depth: 369.484535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 319.484535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819583; longitude = -122.174537; captureRadius = 10; duration = 76; initialDepth = 319.484535; finalDepth = 310.233279; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.617974 # Altitude Set: 56.617974 # Vehicle Depth:319.484535 # Seafloor Depth:-376.102509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.46; MB_Bottom_Detect_Filter_Max_Range = 135.88; MB_Bottom_Detect_Filter_Min_Depth = 42.46; MB_Bottom_Detect_Filter_Max_Depth = 73.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.444951 meters # Minimum depth: 381.041814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.041814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819135; longitude = -122.174859; captureRadius = 10; duration = 76; initialDepth = 331.041814; finalDepth = 319.484535; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.617974 # Altitude Set: 56.617974 # Vehicle Depth:331.041814 # Seafloor Depth:-382.188352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.46; MB_Bottom_Detect_Filter_Max_Range = 135.88; MB_Bottom_Detect_Filter_Min_Depth = 42.46; MB_Bottom_Detect_Filter_Max_Depth = 73.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.982053 meters # Minimum depth: 379.724473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.724473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818686; longitude = -122.175182; captureRadius = 10; duration = 77; initialDepth = 329.724473; finalDepth = 331.041814; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.450997 # Altitude Set: 55.450997 # Vehicle Depth:329.724473 # Seafloor Depth:-385.175470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.59; MB_Bottom_Detect_Filter_Max_Range = 133.08; MB_Bottom_Detect_Filter_Min_Depth = 41.59; MB_Bottom_Detect_Filter_Max_Depth = 72.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.796978 meters # Minimum depth: 379.724473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.724473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818234; longitude = -122.175508; captureRadius = 10; duration = 79; initialDepth = 329.724473; finalDepth = 329.724473; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.450997 # Altitude Set: 55.450997 # Vehicle Depth:329.724473 # Seafloor Depth:-379.734547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.59; MB_Bottom_Detect_Filter_Max_Range = 133.08; MB_Bottom_Detect_Filter_Min_Depth = 41.59; MB_Bottom_Detect_Filter_Max_Depth = 72.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.797062 meters # Minimum depth: 381.441712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.441712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817768; longitude = -122.175844; captureRadius = 10; duration = 79; initialDepth = 331.441712; finalDepth = 329.724473; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.763211 # Altitude Set: 56.763211 # Vehicle Depth:331.441712 # Seafloor Depth:-388.204923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.57; MB_Bottom_Detect_Filter_Max_Range = 136.23; MB_Bottom_Detect_Filter_Min_Depth = 42.57; MB_Bottom_Detect_Filter_Max_Depth = 73.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.204490 meters # Minimum depth: 388.280935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 338.280935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817301; longitude = -122.176180; captureRadius = 10; duration = 69; initialDepth = 338.280935; finalDepth = 331.441712; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.763211 # Altitude Set: 56.763211 # Vehicle Depth:338.280935 # Seafloor Depth:-393.509140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.57; MB_Bottom_Detect_Filter_Max_Range = 136.23; MB_Bottom_Detect_Filter_Min_Depth = 42.57; MB_Bottom_Detect_Filter_Max_Depth = 73.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.445340 meters # Minimum depth: 394.318174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 344.318174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816894; longitude = -122.176474; captureRadius = 10; duration = 76; initialDepth = 344.318174; finalDepth = 338.280935; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.228205 # Altitude Set: 55.228205 # Vehicle Depth:344.318174 # Seafloor Depth:-397.328498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.42; MB_Bottom_Detect_Filter_Max_Range = 132.55; MB_Bottom_Detect_Filter_Min_Depth = 41.42; MB_Bottom_Detect_Filter_Max_Depth = 71.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.445419 meters # Minimum depth: 400.422672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.422672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816446; longitude = -122.176796; captureRadius = 10; duration = 76; initialDepth = 350.422672; finalDepth = 344.318174; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.010324 # Altitude Set: 53.010324 # Vehicle Depth:350.422672 # Seafloor Depth:-400.772610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.76; MB_Bottom_Detect_Filter_Max_Range = 127.22; MB_Bottom_Detect_Filter_Min_Depth = 39.76; MB_Bottom_Detect_Filter_Max_Depth = 68.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.445496 meters # Minimum depth: 403.150774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 353.150774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815998; longitude = -122.177119; captureRadius = 10; duration = 76; initialDepth = 353.150774; finalDepth = 350.422672; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.46879 # Altitude Set: 50.46879 # Vehicle Depth:353.150774 # Seafloor Depth:-403.619564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 121.13; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 65.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.445575 meters # Minimum depth: 405.980267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 355.980267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815550; longitude = -122.177442; captureRadius = 10; duration = 76; initialDepth = 355.980267; finalDepth = 353.150774; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.76167 # Altitude Set: 51.76167 # Vehicle Depth:355.980267 # Seafloor Depth:-407.741937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.23; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.445652 meters # Minimum depth: 409.594186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 359.594186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815102; longitude = -122.177765; captureRadius = 10; duration = 76; initialDepth = 359.594186; finalDepth = 355.980267; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.34737 # Altitude Set: 52.34737 # Vehicle Depth:359.594186 # Seafloor Depth:-411.941556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.26; MB_Bottom_Detect_Filter_Max_Range = 125.63; MB_Bottom_Detect_Filter_Min_Depth = 39.26; MB_Bottom_Detect_Filter_Max_Depth = 68.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.217266 meters # Minimum depth: 412.175038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 362.175038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814654; longitude = -122.178088; captureRadius = 10; duration = 78; initialDepth = 362.175038; finalDepth = 359.594186; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.633042 # Altitude Set: 52.633042 # Vehicle Depth:362.175038 # Seafloor Depth:-414.808080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 126.32; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 68.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.797709 meters # Minimum depth: 415.561273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 365.561273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814192; longitude = -122.178420; captureRadius = 10; duration = 79; initialDepth = 365.561273; finalDepth = 362.175038; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.633042 # Altitude Set: 52.633042 # Vehicle Depth:365.561273 # Seafloor Depth:-417.994628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 126.32; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 68.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.797794 meters # Minimum depth: 418.592600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 368.592600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813726; longitude = -122.178757; captureRadius = 10; duration = 79; initialDepth = 368.592600; finalDepth = 365.561273; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.4333549999999 # Altitude Set: 52.4333549999999 # Vehicle Depth:368.5926 # Seafloor Depth:-420.128621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 125.84; MB_Bottom_Detect_Filter_Min_Depth = 39.33; MB_Bottom_Detect_Filter_Max_Depth = 68.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.970619 meters # Minimum depth: 420.871925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 370.871925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813259; longitude = -122.179093; captureRadius = 10; duration = 67; initialDepth = 370.871925; finalDepth = 368.592600; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.536021 # Altitude Set: 51.536021 # Vehicle Depth:370.871925 # Seafloor Depth:-421.256345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 123.69; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 67.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446042 meters # Minimum depth: 418.369822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 368.369822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812862; longitude = -122.179379; captureRadius = 10; duration = 76; initialDepth = 368.369822; finalDepth = 370.871925; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.887242 # Altitude Set: 52.887242 # Vehicle Depth:368.369822 # Seafloor Depth:-421.257064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.67; MB_Bottom_Detect_Filter_Max_Range = 126.93; MB_Bottom_Detect_Filter_Min_Depth = 39.67; MB_Bottom_Detect_Filter_Max_Depth = 68.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446120 meters # Minimum depth: 408.330487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 358.330487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812414; longitude = -122.179702; captureRadius = 10; duration = 76; initialDepth = 358.330487; finalDepth = 368.369822; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.515972 # Altitude Set: 59.515972 # Vehicle Depth:358.330487 # Seafloor Depth:-417.846459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.64; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 44.64; MB_Bottom_Detect_Filter_Max_Depth = 77.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446198 meters # Minimum depth: 403.476863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 353.476863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811966; longitude = -122.180025; captureRadius = 10; duration = 76; initialDepth = 353.476863; finalDepth = 358.330487; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.515972 # Altitude Set: 59.515972 # Vehicle Depth:353.476863 # Seafloor Depth:-409.087827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.64; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 44.64; MB_Bottom_Detect_Filter_Max_Depth = 77.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446276 meters # Minimum depth: 401.638368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 351.638368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811517; longitude = -122.180347; captureRadius = 10; duration = 76; initialDepth = 351.638368; finalDepth = 353.476863; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.610964 # Altitude Set: 55.610964 # Vehicle Depth:351.638368 # Seafloor Depth:-403.670640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.71; MB_Bottom_Detect_Filter_Max_Range = 133.47; MB_Bottom_Detect_Filter_Min_Depth = 41.71; MB_Bottom_Detect_Filter_Max_Depth = 72.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.100505 meters # Minimum depth: 401.638368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 351.638368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811069; longitude = -122.180670; captureRadius = 10; duration = 77; initialDepth = 351.638368; finalDepth = 351.638368; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.616471 # Altitude Set: 52.616471 # Vehicle Depth:351.638368 # Seafloor Depth:-404.254839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.46; MB_Bottom_Detect_Filter_Max_Range = 126.28; MB_Bottom_Detect_Filter_Min_Depth = 39.46; MB_Bottom_Detect_Filter_Max_Depth = 68.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.798357 meters # Minimum depth: 403.814942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 353.814942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810616; longitude = -122.180997; captureRadius = 10; duration = 79; initialDepth = 353.814942; finalDepth = 351.638368; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.616471 # Altitude Set: 52.616471 # Vehicle Depth:353.814942 # Seafloor Depth:-406.326029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.46; MB_Bottom_Detect_Filter_Max_Range = 126.28; MB_Bottom_Detect_Filter_Min_Depth = 39.46; MB_Bottom_Detect_Filter_Max_Depth = 68.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.798442 meters # Minimum depth: 406.282320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 356.282320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810150; longitude = -122.181333; captureRadius = 10; duration = 79; initialDepth = 356.282320; finalDepth = 353.814942; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.511087 # Altitude Set: 52.511087 # Vehicle Depth:356.28232 # Seafloor Depth:-406.892554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 126.03; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 68.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.088579 meters # Minimum depth: 408.402546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 358.402546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809683; longitude = -122.181669; captureRadius = 10; duration = 69; initialDepth = 358.402546; finalDepth = 356.282320; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.81255 # Altitude Set: 50.81255 # Vehicle Depth:358.402546 # Seafloor Depth:-409.215096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 121.95; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 66.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446665 meters # Minimum depth: 411.100656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 361.100656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809277; longitude = -122.181962; captureRadius = 10; duration = 76; initialDepth = 361.100656; finalDepth = 358.402546; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.81255 # Altitude Set: 50.81255 # Vehicle Depth:361.100656 # Seafloor Depth:-411.198164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 121.95; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 66.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446743 meters # Minimum depth: 413.032539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 363.032539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808829; longitude = -122.182284; captureRadius = 10; duration = 76; initialDepth = 363.032539; finalDepth = 361.100656; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.106602 # Altitude Set: 51.106602 # Vehicle Depth:363.032539 # Seafloor Depth:-414.139141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 122.66; MB_Bottom_Detect_Filter_Min_Depth = 38.33; MB_Bottom_Detect_Filter_Max_Depth = 66.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 57.446822 meters # Minimum depth: 416.731357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 366.731357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808381; longitude = -122.182607; captureRadius = 10; duration = 76; initialDepth = 366.731357; finalDepth = 363.032539; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.691818 # Altitude Set: 51.691818 # Vehicle Depth:366.731357 # Seafloor Depth:-418.423175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 124.06; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 67.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 60.118450 meters # Minimum depth: 419.024832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 369.024832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807933; longitude = -122.182930; captureRadius = 10; duration = 80; initialDepth = 369.024832; finalDepth = 366.731357; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.691818 # Altitude Set: 51.691818 # Vehicle Depth:369.024832 # Seafloor Depth:-419.610519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 124.06; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 67.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 44.813781 meters # Minimum depth: 417.714013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 367.714013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807464; longitude = -122.183268; captureRadius = 10; duration = 59; initialDepth = 367.714013; finalDepth = 369.024832; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.450713 # Altitude Set: 52.450713 # Vehicle Depth:367.714013 # Seafloor Depth:-420.164726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.34; MB_Bottom_Detect_Filter_Max_Range = 125.88; MB_Bottom_Detect_Filter_Min_Depth = 39.34; MB_Bottom_Detect_Filter_Max_Depth = 68.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.862489 meters # Minimum depth: 417.211996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 367.211996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807261; longitude = -122.182834; captureRadius = 10; duration = 67; initialDepth = 367.211996; finalDepth = 367.714013; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.450713 # Altitude Set: 52.450713 # Vehicle Depth:367.211996 # Seafloor Depth:-417.382097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.34; MB_Bottom_Detect_Filter_Max_Range = 125.88; MB_Bottom_Detect_Filter_Min_Depth = 39.34; MB_Bottom_Detect_Filter_Max_Depth = 68.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.294397 meters # Minimum depth: 417.274866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 367.274866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807030; longitude = -122.182341; captureRadius = 10; duration = 72; initialDepth = 367.274866; finalDepth = 367.211996; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.813219 # Altitude Set: 50.813219 # Vehicle Depth:367.274866 # Seafloor Depth:-418.088085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 121.95; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 66.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 32.468727 meters # Minimum depth: 416.573549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 366.573549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806784; longitude = -122.181815; captureRadius = 10; duration = 43; initialDepth = 366.573549; finalDepth = 367.274866; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.502836 # Altitude Set: 51.502836 # Vehicle Depth:366.573549 # Seafloor Depth:-418.076385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.63; MB_Bottom_Detect_Filter_Max_Range = 123.61; MB_Bottom_Detect_Filter_Min_Depth = 38.63; MB_Bottom_Detect_Filter_Max_Depth = 66.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.554643 meters # Minimum depth: 414.470571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 364.470571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807037; longitude = -122.181632; captureRadius = 10; duration = 76; initialDepth = 364.470571; finalDepth = 366.573549; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.502836 # Altitude Set: 51.502836 # Vehicle Depth:364.470571 # Seafloor Depth:-415.915457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.63; MB_Bottom_Detect_Filter_Max_Range = 123.61; MB_Bottom_Detect_Filter_Min_Depth = 38.63; MB_Bottom_Detect_Filter_Max_Depth = 66.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.554563 meters # Minimum depth: 408.434524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 358.434524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807485; longitude = -122.181306; captureRadius = 10; duration = 76; initialDepth = 358.434524; finalDepth = 364.470571; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.935673 # Altitude Set: 55.935673 # Vehicle Depth:358.434524 # Seafloor Depth:-414.370197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 134.25; MB_Bottom_Detect_Filter_Min_Depth = 41.95; MB_Bottom_Detect_Filter_Max_Depth = 72.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.554485 meters # Minimum depth: 405.440419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 355.440419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807933; longitude = -122.180981; captureRadius = 10; duration = 76; initialDepth = 355.440419; finalDepth = 358.434524; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.935673 # Altitude Set: 55.935673 # Vehicle Depth:355.440419 # Seafloor Depth:-408.354206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 134.25; MB_Bottom_Detect_Filter_Min_Depth = 41.95; MB_Bottom_Detect_Filter_Max_Depth = 72.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.590839 meters # Minimum depth: 400.146675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.146675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808381; longitude = -122.180656; captureRadius = 10; duration = 78; initialDepth = 350.146675; finalDepth = 355.440419; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.189261 # Altitude Set: 56.189261 # Vehicle Depth:350.146675 # Seafloor Depth:-406.335936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.14; MB_Bottom_Detect_Filter_Max_Range = 134.85; MB_Bottom_Detect_Filter_Min_Depth = 42.14; MB_Bottom_Detect_Filter_Max_Depth = 73.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.468474 meters # Minimum depth: 395.468085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 345.468085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808837; longitude = -122.180325; captureRadius = 10; duration = 79; initialDepth = 345.468085; finalDepth = 350.146675; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.189261 # Altitude Set: 56.189261 # Vehicle Depth:345.468085 # Seafloor Depth:-400.171424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.14; MB_Bottom_Detect_Filter_Max_Range = 134.85; MB_Bottom_Detect_Filter_Min_Depth = 42.14; MB_Bottom_Detect_Filter_Max_Depth = 73.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.468389 meters # Minimum depth: 393.323533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 343.323533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809300; longitude = -122.179989; captureRadius = 10; duration = 79; initialDepth = 343.323533; finalDepth = 345.468085; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.703339 # Altitude Set: 54.703339 # Vehicle Depth:343.323533 # Seafloor Depth:-394.794700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.03; MB_Bottom_Detect_Filter_Max_Range = 131.29; MB_Bottom_Detect_Filter_Min_Depth = 41.03; MB_Bottom_Detect_Filter_Max_Depth = 71.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.468305 meters # Minimum depth: 389.619866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.619866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809763; longitude = -122.179653; captureRadius = 10; duration = 79; initialDepth = 339.619866; finalDepth = 343.323533; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.929655 # Altitude Set: 52.929655 # Vehicle Depth:339.619866 # Seafloor Depth:-392.549521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.70; MB_Bottom_Detect_Filter_Max_Range = 127.03; MB_Bottom_Detect_Filter_Min_Depth = 39.70; MB_Bottom_Detect_Filter_Max_Depth = 68.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.775230 meters # Minimum depth: 387.785076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 337.785076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810226; longitude = -122.179317; captureRadius = 10; duration = 67; initialDepth = 337.785076; finalDepth = 339.619866; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.929655 # Altitude Set: 52.929655 # Vehicle Depth:337.785076 # Seafloor Depth:-389.442917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.70; MB_Bottom_Detect_Filter_Max_Range = 127.03; MB_Bottom_Detect_Filter_Min_Depth = 39.70; MB_Bottom_Detect_Filter_Max_Depth = 68.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.554010 meters # Minimum depth: 384.703083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 334.703083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810621; longitude = -122.179030; captureRadius = 10; duration = 76; initialDepth = 334.703083; finalDepth = 337.785076; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.705406 # Altitude Set: 51.705406 # Vehicle Depth:334.703083 # Seafloor Depth:-386.408489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.78; MB_Bottom_Detect_Filter_Max_Range = 124.09; MB_Bottom_Detect_Filter_Min_Depth = 38.78; MB_Bottom_Detect_Filter_Max_Depth = 67.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.252493 meters # Minimum depth: 382.953335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.953335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811069; longitude = -122.178704; captureRadius = 10; duration = 67; initialDepth = 332.953335; finalDepth = 334.703083; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.159518 # Altitude Set: 52.159518 # Vehicle Depth:332.953335 # Seafloor Depth:-385.112853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 125.18; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 67.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.466835 meters # Minimum depth: 382.953335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.953335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811461; longitude = -122.178420; captureRadius = 10; duration = 67; initialDepth = 332.953335; finalDepth = 332.953335; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.159518 # Altitude Set: 52.159518 # Vehicle Depth:332.953335 # Seafloor Depth:-383.220783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 125.18; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 67.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553793 meters # Minimum depth: 382.773482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.773482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811853; longitude = -122.178135; captureRadius = 10; duration = 76; initialDepth = 332.773482; finalDepth = 332.953335; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.801436 # Altitude Set: 51.801436 # Vehicle Depth:332.773482 # Seafloor Depth:-384.574918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 124.32; MB_Bottom_Detect_Filter_Min_Depth = 38.85; MB_Bottom_Detect_Filter_Max_Depth = 67.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.560506 meters # Minimum depth: 382.773482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.773482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812302; longitude = -122.177810; captureRadius = 10; duration = 67; initialDepth = 332.773482; finalDepth = 332.773482; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.801436 # Altitude Set: 51.801436 # Vehicle Depth:332.773482 # Seafloor Depth:-383.212219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 124.32; MB_Bottom_Detect_Filter_Min_Depth = 38.85; MB_Bottom_Detect_Filter_Max_Depth = 67.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.158442 meters # Minimum depth: 381.875833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.875833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812695; longitude = -122.177524; captureRadius = 10; duration = 66; initialDepth = 331.875833; finalDepth = 332.773482; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.90228 # Altitude Set: 52.90228 # Vehicle Depth:331.875833 # Seafloor Depth:-384.778113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.68; MB_Bottom_Detect_Filter_Max_Range = 126.97; MB_Bottom_Detect_Filter_Min_Depth = 39.68; MB_Bottom_Detect_Filter_Max_Depth = 68.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553576 meters # Minimum depth: 381.875833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.875833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -122.177241; captureRadius = 10; duration = 76; initialDepth = 331.875833; finalDepth = 331.875833; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.90228 # Altitude Set: 52.90228 # Vehicle Depth:331.875833 # Seafloor Depth:-383.047017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.68; MB_Bottom_Detect_Filter_Max_Range = 126.97; MB_Bottom_Detect_Filter_Min_Depth = 39.68; MB_Bottom_Detect_Filter_Max_Depth = 68.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553497 meters # Minimum depth: 385.772130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.772130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813534; longitude = -122.176916; captureRadius = 10; duration = 76; initialDepth = 335.772130; finalDepth = 331.875833; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.171184 # Altitude Set: 51.171184 # Vehicle Depth:335.77213 # Seafloor Depth:-385.801563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 122.81; MB_Bottom_Detect_Filter_Min_Depth = 38.38; MB_Bottom_Detect_Filter_Max_Depth = 66.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553418 meters # Minimum depth: 383.036602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 333.036602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813982; longitude = -122.176590; captureRadius = 10; duration = 76; initialDepth = 333.036602; finalDepth = 335.772130; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.073314 # Altitude Set: 53.073314 # Vehicle Depth:333.036602 # Seafloor Depth:-386.109916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.80; MB_Bottom_Detect_Filter_Max_Range = 127.38; MB_Bottom_Detect_Filter_Min_Depth = 39.80; MB_Bottom_Detect_Filter_Max_Depth = 69.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553338 meters # Minimum depth: 381.800771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.800771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814430; longitude = -122.176265; captureRadius = 10; duration = 76; initialDepth = 331.800771; finalDepth = 333.036602; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.073314 # Altitude Set: 53.073314 # Vehicle Depth:331.800771 # Seafloor Depth:-383.512561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.38; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.80; MB_Bottom_Detect_Filter_Max_Range = 127.38; MB_Bottom_Detect_Filter_Min_Depth = 39.80; MB_Bottom_Detect_Filter_Max_Depth = 69.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.553260 meters # Minimum depth: 377.009447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.009447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814878; longitude = -122.175940; captureRadius = 10; duration = 76; initialDepth = 327.009447; finalDepth = 331.800771; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.80916 # Altitude Set: 56.80916 # Vehicle Depth:327.009447 # Seafloor Depth:-383.818607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.61; MB_Bottom_Detect_Filter_Max_Range = 136.34; MB_Bottom_Detect_Filter_Min_Depth = 42.61; MB_Bottom_Detect_Filter_Max_Depth = 73.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.524679 meters # Minimum depth: 373.310523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.310523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815326; longitude = -122.175615; captureRadius = 10; duration = 78; initialDepth = 323.310523; finalDepth = 327.009447; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.80916 # Altitude Set: 56.80916 # Vehicle Depth:323.310523 # Seafloor Depth:-376.942673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.61; MB_Bottom_Detect_Filter_Max_Range = 136.34; MB_Bottom_Detect_Filter_Min_Depth = 42.61; MB_Bottom_Detect_Filter_Max_Depth = 73.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.467208 meters # Minimum depth: 372.934559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 322.934559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815782; longitude = -122.175284; captureRadius = 10; duration = 79; initialDepth = 322.934559; finalDepth = 323.310523; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.63215 # Altitude Set: 53.63215 # Vehicle Depth:322.934559 # Seafloor Depth:-373.331251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 128.72; MB_Bottom_Detect_Filter_Min_Depth = 40.22; MB_Bottom_Detect_Filter_Max_Depth = 69.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.467123 meters # Minimum depth: 367.639009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 317.639009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816245; longitude = -122.174948; captureRadius = 10; duration = 79; initialDepth = 317.639009; finalDepth = 322.934559; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.526669 # Altitude Set: 54.526669 # Vehicle Depth:317.639009 # Seafloor Depth:-372.165678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 130.86; MB_Bottom_Detect_Filter_Min_Depth = 40.90; MB_Bottom_Detect_Filter_Max_Depth = 70.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.467040 meters # Minimum depth: 367.639009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 317.639009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816708; longitude = -122.174612; captureRadius = 10; duration = 79; initialDepth = 317.639009; finalDepth = 317.639009; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.526669 # Altitude Set: 54.526669 # Vehicle Depth:317.639009 # Seafloor Depth:-368.079327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 130.86; MB_Bottom_Detect_Filter_Min_Depth = 40.90; MB_Bottom_Detect_Filter_Max_Depth = 70.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.839064 meters # Minimum depth: 366.326908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 316.326908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817171; longitude = -122.174276; captureRadius = 10; duration = 67; initialDepth = 316.326908; finalDepth = 317.639009; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.427029 # Altitude Set: 51.427029 # Vehicle Depth:316.326908 # Seafloor Depth:-367.753937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 123.42; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 66.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552786 meters # Minimum depth: 362.385338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 312.385338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817566; longitude = -122.173989; captureRadius = 10; duration = 76; initialDepth = 312.385338; finalDepth = 316.326908; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.250184 # Altitude Set: 52.250184 # Vehicle Depth:312.385338 # Seafloor Depth:-364.635522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.40; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.186510 meters # Minimum depth: 361.256789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.256789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818014; longitude = -122.173663; captureRadius = 10; duration = 66; initialDepth = 311.256789; finalDepth = 312.385338; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.250184 # Altitude Set: 52.250184 # Vehicle Depth:311.256789 # Seafloor Depth:-362.236130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.40; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.40; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.530675 meters # Minimum depth: 360.847609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 310.847609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818405; longitude = -122.173380; captureRadius = 10; duration = 67; initialDepth = 310.847609; finalDepth = 311.256789; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.196827 # Altitude Set: 52.196827 # Vehicle Depth:310.847609 # Seafloor Depth:-363.044436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 125.27; MB_Bottom_Detect_Filter_Min_Depth = 39.15; MB_Bottom_Detect_Filter_Max_Depth = 67.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552569 meters # Minimum depth: 356.404067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 306.404067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818799; longitude = -122.173094; captureRadius = 10; duration = 76; initialDepth = 306.404067; finalDepth = 310.847609; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.579603 # Altitude Set: 52.579603 # Vehicle Depth:306.404067 # Seafloor Depth:-358.983670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 126.19; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 68.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.494515 meters # Minimum depth: 352.768600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 302.768600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819247; longitude = -122.172769; captureRadius = 10; duration = 67; initialDepth = 302.768600; finalDepth = 306.404067; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.876981 # Altitude Set: 52.876981 # Vehicle Depth:302.7686 # Seafloor Depth:-355.645581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 126.90; MB_Bottom_Detect_Filter_Min_Depth = 39.66; MB_Bottom_Detect_Filter_Max_Depth = 68.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.222290 meters # Minimum depth: 348.885404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 298.885404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819640; longitude = -122.172484; captureRadius = 10; duration = 66; initialDepth = 298.885404; finalDepth = 302.768600; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.168882 # Altitude Set: 53.168882 # Vehicle Depth:298.885404 # Seafloor Depth:-352.054286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.88; MB_Bottom_Detect_Filter_Max_Range = 127.61; MB_Bottom_Detect_Filter_Min_Depth = 39.88; MB_Bottom_Detect_Filter_Max_Depth = 69.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552351 meters # Minimum depth: 344.420056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 294.420056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820031; longitude = -122.172200; captureRadius = 10; duration = 76; initialDepth = 294.420056; finalDepth = 298.885404; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.776691 # Altitude Set: 53.776691 # Vehicle Depth:294.420056 # Seafloor Depth:-348.196747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 129.06; MB_Bottom_Detect_Filter_Min_Depth = 40.33; MB_Bottom_Detect_Filter_Max_Depth = 69.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552272 meters # Minimum depth: 340.170905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 290.170905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820479; longitude = -122.171875; captureRadius = 10; duration = 76; initialDepth = 290.170905; finalDepth = 294.420056; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.776691 # Altitude Set: 53.776691 # Vehicle Depth:290.170905 # Seafloor Depth:-343.581733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 129.06; MB_Bottom_Detect_Filter_Min_Depth = 40.33; MB_Bottom_Detect_Filter_Max_Depth = 69.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552194 meters # Minimum depth: 336.243763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 286.243763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820927; longitude = -122.171549; captureRadius = 10; duration = 76; initialDepth = 286.243763; finalDepth = 290.170905; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.410828 # Altitude Set: 53.410828 # Vehicle Depth:286.243763 # Seafloor Depth:-339.501074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.06; MB_Bottom_Detect_Filter_Max_Range = 128.19; MB_Bottom_Detect_Filter_Min_Depth = 40.06; MB_Bottom_Detect_Filter_Max_Depth = 69.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552114 meters # Minimum depth: 335.470740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.470740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821375; longitude = -122.171224; captureRadius = 10; duration = 76; initialDepth = 285.470740; finalDepth = 286.243763; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.257311 # Altitude Set: 53.257311 # Vehicle Depth:285.47074 # Seafloor Depth:-336.900891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 127.82; MB_Bottom_Detect_Filter_Min_Depth = 39.94; MB_Bottom_Detect_Filter_Max_Depth = 69.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.552036 meters # Minimum depth: 331.779622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.779622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821823; longitude = -122.170899; captureRadius = 10; duration = 76; initialDepth = 281.779622; finalDepth = 285.470740; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.749858 # Altitude Set: 53.749858 # Vehicle Depth:281.779622 # Seafloor Depth:-335.529480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.31; MB_Bottom_Detect_Filter_Max_Range = 129.00; MB_Bottom_Detect_Filter_Min_Depth = 40.31; MB_Bottom_Detect_Filter_Max_Depth = 69.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.458519 meters # Minimum depth: 329.767634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 279.767634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822271; longitude = -122.170574; captureRadius = 10; duration = 77; initialDepth = 279.767634; finalDepth = 281.779622; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.749858 # Altitude Set: 53.749858 # Vehicle Depth:279.767634 # Seafloor Depth:-331.706753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.31; MB_Bottom_Detect_Filter_Max_Range = 129.00; MB_Bottom_Detect_Filter_Min_Depth = 40.31; MB_Bottom_Detect_Filter_Max_Depth = 69.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.465943 meters # Minimum depth: 328.213138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 278.213138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822726; longitude = -122.170243; captureRadius = 10; duration = 79; initialDepth = 278.213138; finalDepth = 279.767634; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.939119 # Altitude Set: 51.939119 # Vehicle Depth:278.213138 # Seafloor Depth:-329.733904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.95; MB_Bottom_Detect_Filter_Max_Range = 124.65; MB_Bottom_Detect_Filter_Min_Depth = 38.95; MB_Bottom_Detect_Filter_Max_Depth = 67.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.465859 meters # Minimum depth: 325.148544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 275.148544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823189; longitude = -122.169907; captureRadius = 10; duration = 79; initialDepth = 275.148544; finalDepth = 278.213138; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.892521 # Altitude Set: 52.892521 # Vehicle Depth:275.148544 # Seafloor Depth:-328.041065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.67; MB_Bottom_Detect_Filter_Max_Range = 126.94; MB_Bottom_Detect_Filter_Min_Depth = 39.67; MB_Bottom_Detect_Filter_Max_Depth = 68.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.465775 meters # Minimum depth: 323.480039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 273.480039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823652; longitude = -122.169571; captureRadius = 10; duration = 79; initialDepth = 273.480039; finalDepth = 275.148544; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.892521 # Altitude Set: 52.892521 # Vehicle Depth:273.480039 # Seafloor Depth:-324.969728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.67; MB_Bottom_Detect_Filter_Max_Range = 126.94; MB_Bottom_Detect_Filter_Min_Depth = 39.67; MB_Bottom_Detect_Filter_Max_Depth = 68.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.902896 meters # Minimum depth: 322.610759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.610759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824115; longitude = -122.169235; captureRadius = 10; duration = 67; initialDepth = 272.610759; finalDepth = 273.480039; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.489689 # Altitude Set: 51.489689 # Vehicle Depth:272.610759 # Seafloor Depth:-323.432230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 123.58; MB_Bottom_Detect_Filter_Min_Depth = 38.62; MB_Bottom_Detect_Filter_Max_Depth = 66.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.551561 meters # Minimum depth: 321.342218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 271.342218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824511; longitude = -122.168947; captureRadius = 10; duration = 76; initialDepth = 271.342218; finalDepth = 272.610759; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.280207 # Altitude Set: 52.280207 # Vehicle Depth:271.342218 # Seafloor Depth:-323.622425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 125.47; MB_Bottom_Detect_Filter_Min_Depth = 39.21; MB_Bottom_Detect_Filter_Max_Depth = 67.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.120529 meters # Minimum depth: 318.258963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 268.258963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824959; longitude = -122.168622; captureRadius = 10; duration = 66; initialDepth = 268.258963; finalDepth = 271.342218; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.280207 # Altitude Set: 52.280207 # Vehicle Depth:268.258963 # Seafloor Depth:-320.465588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 125.47; MB_Bottom_Detect_Filter_Min_Depth = 39.21; MB_Bottom_Detect_Filter_Max_Depth = 67.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.594513 meters # Minimum depth: 316.098948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 266.098948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825350; longitude = -122.168339; captureRadius = 10; duration = 67; initialDepth = 266.098948; finalDepth = 268.258963; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.206625 # Altitude Set: 52.206625 # Vehicle Depth:266.098948 # Seafloor Depth:-318.177691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 125.30; MB_Bottom_Detect_Filter_Min_Depth = 39.15; MB_Bottom_Detect_Filter_Max_Depth = 67.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.551345 meters # Minimum depth: 315.936467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 265.936467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825744; longitude = -122.168053; captureRadius = 10; duration = 76; initialDepth = 265.936467; finalDepth = 266.098948; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.078743 # Altitude Set: 52.078743 # Vehicle Depth:265.936467 # Seafloor Depth:-316.560365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.06; MB_Bottom_Detect_Filter_Max_Range = 124.99; MB_Bottom_Detect_Filter_Min_Depth = 39.06; MB_Bottom_Detect_Filter_Max_Depth = 67.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.428528 meters # Minimum depth: 314.341321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 264.341321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826192; longitude = -122.167728; captureRadius = 10; duration = 67; initialDepth = 264.341321; finalDepth = 265.936467; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.793218 # Altitude Set: 51.793218 # Vehicle Depth:264.341321 # Seafloor Depth:-316.134539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 124.30; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 67.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.286134 meters # Minimum depth: 313.461204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 263.461204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826584; longitude = -122.167443; captureRadius = 10; duration = 67; initialDepth = 263.461204; finalDepth = 264.341321; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.793218 # Altitude Set: 51.793218 # Vehicle Depth:263.461204 # Seafloor Depth:-314.116621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 124.30; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 67.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.551127 meters # Minimum depth: 313.461204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 263.461204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826976; longitude = -122.167159; captureRadius = 10; duration = 76; initialDepth = 263.461204; finalDepth = 263.461204; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.029636 # Altitude Set: 51.029636 # Vehicle Depth:263.461204 # Seafloor Depth:-314.490840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 122.47; MB_Bottom_Detect_Filter_Min_Depth = 38.27; MB_Bottom_Detect_Filter_Max_Depth = 66.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.551048 meters # Minimum depth: 314.919634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 264.919634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827424; longitude = -122.166833; captureRadius = 10; duration = 76; initialDepth = 264.919634; finalDepth = 263.461204; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.862718 # Altitude Set: 51.862718 # Vehicle Depth:264.919634 # Seafloor Depth:-316.782352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 124.47; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 67.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.550969 meters # Minimum depth: 319.562838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 269.562838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827872; longitude = -122.166508; captureRadius = 10; duration = 76; initialDepth = 269.562838; finalDepth = 264.919634; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.545296 # Altitude Set: 52.545296 # Vehicle Depth:269.562838 # Seafloor Depth:-322.108134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 126.11; MB_Bottom_Detect_Filter_Min_Depth = 39.41; MB_Bottom_Detect_Filter_Max_Depth = 68.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.550890 meters # Minimum depth: 321.822092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 271.822092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828320; longitude = -122.166183; captureRadius = 10; duration = 76; initialDepth = 271.822092; finalDepth = 269.562838; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.545296 # Altitude Set: 52.545296 # Vehicle Depth:271.822092 # Seafloor Depth:-322.756289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.11; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 126.11; MB_Bottom_Detect_Filter_Min_Depth = 39.41; MB_Bottom_Detect_Filter_Max_Depth = 68.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.550811 meters # Minimum depth: 322.296913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.296913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828768; longitude = -122.165858; captureRadius = 10; duration = 76; initialDepth = 272.296913; finalDepth = 271.822092; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.425063 # Altitude Set: 51.425063 # Vehicle Depth:272.296913 # Seafloor Depth:-323.721976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 123.42; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 66.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.392364 meters # Minimum depth: 319.825367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 269.825367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829216; longitude = -122.165532; captureRadius = 10; duration = 77; initialDepth = 269.825367; finalDepth = 272.296913; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.303149 # Altitude Set: 54.303149 # Vehicle Depth:269.825367 # Seafloor Depth:-324.128516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 130.33; MB_Bottom_Detect_Filter_Min_Depth = 40.73; MB_Bottom_Detect_Filter_Max_Depth = 70.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.464678 meters # Minimum depth: 311.882830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 261.882830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829671; longitude = -122.165202; captureRadius = 10; duration = 79; initialDepth = 261.882830; finalDepth = 269.825367; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.864574 # Altitude Set: 57.864574 # Vehicle Depth:261.88283 # Seafloor Depth:-319.747404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.40; MB_Bottom_Detect_Filter_Max_Range = 138.87; MB_Bottom_Detect_Filter_Min_Depth = 43.40; MB_Bottom_Detect_Filter_Max_Depth = 75.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.464594 meters # Minimum depth: 306.751111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 256.751111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830134; longitude = -122.164866; captureRadius = 10; duration = 79; initialDepth = 256.751111; finalDepth = 261.882830; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.864574 # Altitude Set: 57.864574 # Vehicle Depth:256.751111 # Seafloor Depth:-311.824494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.40; MB_Bottom_Detect_Filter_Max_Range = 138.87; MB_Bottom_Detect_Filter_Min_Depth = 43.40; MB_Bottom_Detect_Filter_Max_Depth = 75.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.464510 meters # Minimum depth: 298.469671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 248.469671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830597; longitude = -122.164530; captureRadius = 10; duration = 79; initialDepth = 248.469671; finalDepth = 256.751111; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.553043 # Altitude Set: 57.553043 # Vehicle Depth:248.469671 # Seafloor Depth:-306.022714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 138.13; MB_Bottom_Detect_Filter_Min_Depth = 43.16; MB_Bottom_Detect_Filter_Max_Depth = 74.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.966725 meters # Minimum depth: 292.914443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 242.914443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831060; longitude = -122.164194; captureRadius = 10; duration = 67; initialDepth = 242.914443; finalDepth = 248.469671; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.553043 # Altitude Set: 57.553043 # Vehicle Depth:242.914443 # Seafloor Depth:-298.169205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 138.13; MB_Bottom_Detect_Filter_Min_Depth = 43.16; MB_Bottom_Detect_Filter_Max_Depth = 74.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.550337 meters # Minimum depth: 285.332291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 235.332291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831456; longitude = -122.163906; captureRadius = 10; duration = 76; initialDepth = 235.332291; finalDepth = 242.914443; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.254762 # Altitude Set: 55.254762 # Vehicle Depth:235.332291 # Seafloor Depth:-288.805052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.44; MB_Bottom_Detect_Filter_Max_Range = 132.61; MB_Bottom_Detect_Filter_Min_Depth = 41.44; MB_Bottom_Detect_Filter_Max_Depth = 71.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.054551 meters # Minimum depth: 281.270328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 231.270328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831904; longitude = -122.163581; captureRadius = 10; duration = 66; initialDepth = 231.270328; finalDepth = 235.332291; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.479247 # Altitude Set: 53.479247 # Vehicle Depth:231.270328 # Seafloor Depth:-284.749575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 128.35; MB_Bottom_Detect_Filter_Min_Depth = 40.11; MB_Bottom_Detect_Filter_Max_Depth = 69.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.658349 meters # Minimum depth: 277.616433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 227.616433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832294; longitude = -122.163298; captureRadius = 10; duration = 67; initialDepth = 227.616433; finalDepth = 231.270328; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.479247 # Altitude Set: 53.479247 # Vehicle Depth:227.616433 # Seafloor Depth:-280.911526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 128.35; MB_Bottom_Detect_Filter_Min_Depth = 40.11; MB_Bottom_Detect_Filter_Max_Depth = 69.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.550120 meters # Minimum depth: 270.944646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 220.944646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832689; longitude = -122.163012; captureRadius = 10; duration = 76; initialDepth = 220.944646; finalDepth = 227.616433; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.526828 # Altitude Set: 55.526828 # Vehicle Depth:220.944646 # Seafloor Depth:-276.471474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 133.26; MB_Bottom_Detect_Filter_Min_Depth = 41.65; MB_Bottom_Detect_Filter_Max_Depth = 72.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.362545 meters # Minimum depth: 264.883859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 214.883859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833137; longitude = -122.162687; captureRadius = 10; duration = 67; initialDepth = 214.883859; finalDepth = 220.944646; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.526828 # Altitude Set: 55.526828 # Vehicle Depth:214.883859 # Seafloor Depth:-270.197095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 133.26; MB_Bottom_Detect_Filter_Min_Depth = 41.65; MB_Bottom_Detect_Filter_Max_Depth = 72.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.349975 meters # Minimum depth: 259.013665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 209.013665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833529; longitude = -122.162402; captureRadius = 10; duration = 67; initialDepth = 209.013665; finalDepth = 214.883859; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.484212 # Altitude Set: 55.484212 # Vehicle Depth:209.013665 # Seafloor Depth:-264.497877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.61; MB_Bottom_Detect_Filter_Max_Range = 133.16; MB_Bottom_Detect_Filter_Min_Depth = 41.61; MB_Bottom_Detect_Filter_Max_Depth = 72.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549903 meters # Minimum depth: 250.109591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 200.109591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833921; longitude = -122.162118; captureRadius = 10; duration = 76; initialDepth = 200.109591; finalDepth = 209.013665; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.881057 # Altitude Set: 57.881057 # Vehicle Depth:200.109591 # Seafloor Depth:-257.990648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.41; MB_Bottom_Detect_Filter_Max_Range = 138.91; MB_Bottom_Detect_Filter_Min_Depth = 43.41; MB_Bottom_Detect_Filter_Max_Depth = 75.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549823 meters # Minimum depth: 238.097622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 188.097622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834369; longitude = -122.161792; captureRadius = 10; duration = 76; initialDepth = 188.097622; finalDepth = 200.109591; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.105852 # Altitude Set: 60 # Vehicle Depth:188.097622 # Seafloor Depth:-248.203474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549745 meters # Minimum depth: 230.232087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 180.232087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834817; longitude = -122.161467; captureRadius = 10; duration = 76; initialDepth = 180.232087; finalDepth = 188.097622; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.105852 # Altitude Set: 60 # Vehicle Depth:180.232087 # Seafloor Depth:-236.671339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549666 meters # Minimum depth: 216.956930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 166.956930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835265; longitude = -122.161142; captureRadius = 10; duration = 76; initialDepth = 166.956930; finalDepth = 180.232087; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.392236 # Altitude Set: 60 # Vehicle Depth:166.95693 # Seafloor Depth:-229.349166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549587 meters # Minimum depth: 206.232112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 156.232112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835713; longitude = -122.160817; captureRadius = 10; duration = 76; initialDepth = 156.232112; finalDepth = 166.956930; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.392236 # Altitude Set: 60 # Vehicle Depth:156.232112 # Seafloor Depth:-216.491608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.326211 meters # Minimum depth: 194.508591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 144.508591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836161; longitude = -122.160491; captureRadius = 10; duration = 77; initialDepth = 144.508591; finalDepth = 156.232112; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.475024 # Altitude Set: 60 # Vehicle Depth:144.508591 # Seafloor Depth:-205.983615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.463414 meters # Minimum depth: 184.622410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 134.622410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836615; longitude = -122.160162; captureRadius = 10; duration = 79; initialDepth = 134.622410; finalDepth = 144.508591; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.475024 # Altitude Set: 60 # Vehicle Depth:134.62241 # Seafloor Depth:-194.160957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.463329 meters # Minimum depth: 177.265666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 127.265666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837078; longitude = -122.159826; captureRadius = 10; duration = 79; initialDepth = 127.265666; finalDepth = 134.622410; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.538547 # Altitude Set: 59.538547 # Vehicle Depth:127.265666 # Seafloor Depth:-184.490629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.65; MB_Bottom_Detect_Filter_Max_Range = 142.89; MB_Bottom_Detect_Filter_Min_Depth = 44.65; MB_Bottom_Detect_Filter_Max_Depth = 77.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.463245 meters # Minimum depth: 171.425260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 121.425260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837541; longitude = -122.159490; captureRadius = 10; duration = 79; initialDepth = 121.425260; finalDepth = 127.265666; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.224963 # Altitude Set: 57.224963 # Vehicle Depth:121.42526 # Seafloor Depth:-176.466193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 137.34; MB_Bottom_Detect_Filter_Min_Depth = 42.92; MB_Bottom_Detect_Filter_Max_Depth = 74.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.030551 meters # Minimum depth: 167.216799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 117.216799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838004; longitude = -122.159154; captureRadius = 10; duration = 68; initialDepth = 117.216799; finalDepth = 121.425260; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.040933 # Altitude Set: 55.040933 # Vehicle Depth:117.216799 # Seafloor Depth:-170.727323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.28; MB_Bottom_Detect_Filter_Max_Range = 132.10; MB_Bottom_Detect_Filter_Min_Depth = 41.28; MB_Bottom_Detect_Filter_Max_Depth = 71.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549113 meters # Minimum depth: 165.124767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 115.124767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838401; longitude = -122.158865; captureRadius = 10; duration = 76; initialDepth = 115.124767; finalDepth = 117.216799; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.510524 # Altitude Set: 53.510524 # Vehicle Depth:115.124767 # Seafloor Depth:-166.528411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.13; MB_Bottom_Detect_Filter_Max_Range = 128.43; MB_Bottom_Detect_Filter_Min_Depth = 40.13; MB_Bottom_Detect_Filter_Max_Depth = 69.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.549034 meters # Minimum depth: 162.010279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 112.010279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838849; longitude = -122.158540; captureRadius = 10; duration = 76; initialDepth = 112.010279; finalDepth = 115.124767; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.066036 # Altitude Set: 53.066036 # Vehicle Depth:112.010279 # Seafloor Depth:-165.076315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.80; MB_Bottom_Detect_Filter_Max_Range = 127.36; MB_Bottom_Detect_Filter_Min_Depth = 39.80; MB_Bottom_Detect_Filter_Max_Depth = 68.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.548955 meters # Minimum depth: 156.350274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 106.350274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839298; longitude = -122.158215; captureRadius = 10; duration = 76; initialDepth = 106.350274; finalDepth = 112.010279; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.235328 # Altitude Set: 55.235328 # Vehicle Depth:106.350274 # Seafloor Depth:-161.585602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.43; MB_Bottom_Detect_Filter_Max_Range = 132.56; MB_Bottom_Detect_Filter_Min_Depth = 41.43; MB_Bottom_Detect_Filter_Max_Depth = 71.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 57.548876 meters # Minimum depth: 150.577567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 100.577567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839746; longitude = -122.157890; captureRadius = 10; duration = 76; initialDepth = 100.577567; finalDepth = 106.350274; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.420771 # Altitude Set: 55.420771 # Vehicle Depth:100.577567 # Seafloor Depth:-155.998338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.57; MB_Bottom_Detect_Filter_Max_Range = 133.01; MB_Bottom_Detect_Filter_Min_Depth = 41.57; MB_Bottom_Detect_Filter_Max_Depth = 72.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 62.332834 meters # Minimum depth: 143.227350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 93.227350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840194; longitude = -122.157564; captureRadius = 10; duration = 83; initialDepth = 93.227350; finalDepth = 100.577567; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.104496 # Altitude Set: 57.104496 # Vehicle Depth:93.22735 # Seafloor Depth:-150.331846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.83; MB_Bottom_Detect_Filter_Max_Range = 137.05; MB_Bottom_Detect_Filter_Min_Depth = 42.83; MB_Bottom_Detect_Filter_Max_Depth = 74.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 49.565347 meters # Minimum depth: 142.373886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.373886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840679; longitude = -122.157212; captureRadius = 10; duration = 66; initialDepth = 92.373886; finalDepth = 93.227350; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.104496 # Altitude Set: 57.104496 # Vehicle Depth:92.373886 # Seafloor Depth:-142.373886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.83; MB_Bottom_Detect_Filter_Max_Range = 137.05; MB_Bottom_Detect_Filter_Min_Depth = 42.83; MB_Bottom_Detect_Filter_Max_Depth = 74.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.493020 meters # Minimum depth: 142.247905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.247905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840306; longitude = -122.156907; captureRadius = 10; duration = 79; initialDepth = 92.247905; finalDepth = 92.373886; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.373408 # Altitude Set: 50.373408 # Vehicle Depth:92.247905 # Seafloor Depth:-142.621313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 120.90; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 65.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.523197 meters # Minimum depth: 142.074638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.074638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839858; longitude = -122.156540; captureRadius = 10; duration = 72; initialDepth = 92.074638; finalDepth = 92.247905; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.373408 # Altitude Set: 50.373408 # Vehicle Depth:92.074638 # Seafloor Depth:-142.414082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 120.90; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 65.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 47.946623 meters # Minimum depth: 142.074638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.074638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839447; longitude = -122.156204; captureRadius = 10; duration = 63; initialDepth = 92.074638; finalDepth = 92.074638; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.339444 # Altitude Set: 50.339444 # Vehicle Depth:92.074638 # Seafloor Depth:-142.136116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 120.81; MB_Bottom_Detect_Filter_Min_Depth = 37.75; MB_Bottom_Detect_Filter_Max_Depth = 65.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.881660 meters # Minimum depth: 142.368459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.368459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839074; longitude = -122.156475; captureRadius = 10; duration = 77; initialDepth = 92.368459; finalDepth = 92.074638; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.287711 # Altitude Set: 52.287711 # Vehicle Depth:92.368459 # Seafloor Depth:-144.656170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 125.49; MB_Bottom_Detect_Filter_Min_Depth = 39.22; MB_Bottom_Detect_Filter_Max_Depth = 67.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.545901 meters # Minimum depth: 145.069581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 95.069581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838623; longitude = -122.156801; captureRadius = 10; duration = 79; initialDepth = 95.069581; finalDepth = 92.368459; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.287711 # Altitude Set: 52.287711 # Vehicle Depth:95.069581 # Seafloor Depth:-146.571276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 125.49; MB_Bottom_Detect_Filter_Min_Depth = 39.22; MB_Bottom_Detect_Filter_Max_Depth = 67.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.545985 meters # Minimum depth: 146.694764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 96.694764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838159; longitude = -122.157137; captureRadius = 10; duration = 79; initialDepth = 96.694764; finalDepth = 95.069581; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.092884 # Altitude Set: 52.092884 # Vehicle Depth:96.694764 # Seafloor Depth:-148.787648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.02; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.546069 meters # Minimum depth: 150.552042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 100.552042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837695; longitude = -122.157473; captureRadius = 10; duration = 79; initialDepth = 100.552042; finalDepth = 96.694764; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.494726 # Altitude Set: 54.494726 # Vehicle Depth:100.552042 # Seafloor Depth:-155.046768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.87; MB_Bottom_Detect_Filter_Max_Range = 130.79; MB_Bottom_Detect_Filter_Min_Depth = 40.87; MB_Bottom_Detect_Filter_Max_Depth = 70.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.090707 meters # Minimum depth: 156.536348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 106.536348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837231; longitude = -122.157809; captureRadius = 10; duration = 68; initialDepth = 106.536348; finalDepth = 100.552042; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.494726 # Altitude Set: 54.494726 # Vehicle Depth:106.536348 # Seafloor Depth:-158.685423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.87; MB_Bottom_Detect_Filter_Max_Range = 130.79; MB_Bottom_Detect_Filter_Min_Depth = 40.87; MB_Bottom_Detect_Filter_Max_Depth = 70.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.522300 meters # Minimum depth: 160.199822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 110.199822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836833; longitude = -122.158098; captureRadius = 10; duration = 76; initialDepth = 110.199822; finalDepth = 106.536348; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.270454 # Altitude Set: 54.270454 # Vehicle Depth:110.199822 # Seafloor Depth:-164.470276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.70; MB_Bottom_Detect_Filter_Max_Range = 130.25; MB_Bottom_Detect_Filter_Min_Depth = 40.70; MB_Bottom_Detect_Filter_Max_Depth = 70.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.522379 meters # Minimum depth: 168.465323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 118.465323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836385; longitude = -122.158422; captureRadius = 10; duration = 76; initialDepth = 118.465323; finalDepth = 110.199822; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.286066 # Altitude Set: 54.286066 # Vehicle Depth:118.465323 # Seafloor Depth:-172.751389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.29; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.522458 meters # Minimum depth: 177.322767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 127.322767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835937; longitude = -122.158747; captureRadius = 10; duration = 76; initialDepth = 127.322767; finalDepth = 118.465323; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.592496 # Altitude Set: 54.592496 # Vehicle Depth:127.322767 # Seafloor Depth:-181.915263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.02; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.94; MB_Bottom_Detect_Filter_Max_Range = 131.02; MB_Bottom_Detect_Filter_Min_Depth = 40.94; MB_Bottom_Detect_Filter_Max_Depth = 70.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.522537 meters # Minimum depth: 186.811744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 136.811744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835489; longitude = -122.159072; captureRadius = 10; duration = 76; initialDepth = 136.811744; finalDepth = 127.322767; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.696291 # Altitude Set: 54.696291 # Vehicle Depth:136.811744 # Seafloor Depth:-191.508035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 131.27; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 71.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.522615 meters # Minimum depth: 195.646155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 145.646155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835041; longitude = -122.159396; captureRadius = 10; duration = 76; initialDepth = 145.646155; finalDepth = 136.811744; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.296817 # Altitude Set: 55.296817 # Vehicle Depth:145.646155 # Seafloor Depth:-200.942972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.47; MB_Bottom_Detect_Filter_Max_Range = 132.71; MB_Bottom_Detect_Filter_Min_Depth = 41.47; MB_Bottom_Detect_Filter_Max_Depth = 71.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.272954 meters # Minimum depth: 203.245373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 153.245373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834593; longitude = -122.159721; captureRadius = 10; duration = 77; initialDepth = 153.245373; finalDepth = 145.646155; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.458976 # Altitude Set: 56.458976 # Vehicle Depth:153.245373 # Seafloor Depth:-209.704349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.34; MB_Bottom_Detect_Filter_Max_Range = 135.50; MB_Bottom_Detect_Filter_Min_Depth = 42.34; MB_Bottom_Detect_Filter_Max_Depth = 73.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.546716 meters # Minimum depth: 213.602632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 163.602632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834139; longitude = -122.160050; captureRadius = 10; duration = 79; initialDepth = 163.602632; finalDepth = 153.245373; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.458976 # Altitude Set: 56.458976 # Vehicle Depth:163.602632 # Seafloor Depth:-219.210520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.50; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.34; MB_Bottom_Detect_Filter_Max_Range = 135.50; MB_Bottom_Detect_Filter_Min_Depth = 42.34; MB_Bottom_Detect_Filter_Max_Depth = 73.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.546800 meters # Minimum depth: 223.018328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 173.018328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833675; longitude = -122.160386; captureRadius = 10; duration = 79; initialDepth = 173.018328; finalDepth = 163.602632; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.029604 # Altitude Set: 57.029604 # Vehicle Depth:173.018328 # Seafloor Depth:-230.047932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 136.87; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 74.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.546884 meters # Minimum depth: 234.781052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 184.781052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833211; longitude = -122.160722; captureRadius = 10; duration = 79; initialDepth = 184.781052; finalDepth = 173.018328; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.029604 # Altitude Set: 57.029604 # Vehicle Depth:184.781052 # Seafloor Depth:-240.162674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 136.87; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 74.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.700903 meters # Minimum depth: 244.719609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 194.719609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832747; longitude = -122.161058; captureRadius = 10; duration = 67; initialDepth = 194.719609; finalDepth = 184.781052; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.381622 # Altitude Set: 55.381622 # Vehicle Depth:194.719609 # Seafloor Depth:-248.535611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.92; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.54; MB_Bottom_Detect_Filter_Max_Range = 132.92; MB_Bottom_Detect_Filter_Min_Depth = 41.54; MB_Bottom_Detect_Filter_Max_Depth = 72.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523087 meters # Minimum depth: 251.483201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 201.483201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832353; longitude = -122.161344; captureRadius = 10; duration = 76; initialDepth = 201.483201; finalDepth = 194.719609; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.128736 # Altitude Set: 54.128736 # Vehicle Depth:201.483201 # Seafloor Depth:-255.611937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.60; MB_Bottom_Detect_Filter_Max_Range = 129.91; MB_Bottom_Detect_Filter_Min_Depth = 40.60; MB_Bottom_Detect_Filter_Max_Depth = 70.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.568114 meters # Minimum depth: 257.874510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 207.874510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831904; longitude = -122.161669; captureRadius = 10; duration = 67; initialDepth = 207.874510; finalDepth = 201.483201; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.656691 # Altitude Set: 55.656691 # Vehicle Depth:207.87451 # Seafloor Depth:-263.531201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.74; MB_Bottom_Detect_Filter_Max_Range = 133.58; MB_Bottom_Detect_Filter_Min_Depth = 41.74; MB_Bottom_Detect_Filter_Max_Depth = 72.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.097479 meters # Minimum depth: 266.363049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 216.363049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831511; longitude = -122.161954; captureRadius = 10; duration = 66; initialDepth = 216.363049; finalDepth = 207.874510; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.656691 # Altitude Set: 55.656691 # Vehicle Depth:216.363049 # Seafloor Depth:-269.827932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.74; MB_Bottom_Detect_Filter_Max_Range = 133.58; MB_Bottom_Detect_Filter_Min_Depth = 41.74; MB_Bottom_Detect_Filter_Max_Depth = 72.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523304 meters # Minimum depth: 272.617259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 222.617259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831120; longitude = -122.162237; captureRadius = 10; duration = 76; initialDepth = 222.617259; finalDepth = 216.363049; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.464883 # Altitude Set: 53.464883 # Vehicle Depth:222.617259 # Seafloor Depth:-274.217639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.32; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 128.32; MB_Bottom_Detect_Filter_Min_Depth = 40.10; MB_Bottom_Detect_Filter_Max_Depth = 69.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523382 meters # Minimum depth: 278.391427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 228.391427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830672; longitude = -122.162561; captureRadius = 10; duration = 76; initialDepth = 228.391427; finalDepth = 222.617259; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.52441 # Altitude Set: 52.52441 # Vehicle Depth:228.391427 # Seafloor Depth:-280.915837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 126.06; MB_Bottom_Detect_Filter_Min_Depth = 39.39; MB_Bottom_Detect_Filter_Max_Depth = 68.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523462 meters # Minimum depth: 285.654669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 235.654669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830224; longitude = -122.162886; captureRadius = 10; duration = 76; initialDepth = 235.654669; finalDepth = 228.391427; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.510653 # Altitude Set: 57.510653 # Vehicle Depth:235.654669 # Seafloor Depth:-293.165322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.13; MB_Bottom_Detect_Filter_Max_Range = 138.03; MB_Bottom_Detect_Filter_Min_Depth = 43.13; MB_Bottom_Detect_Filter_Max_Depth = 74.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523540 meters # Minimum depth: 296.848577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 246.848577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829776; longitude = -122.163211; captureRadius = 10; duration = 76; initialDepth = 246.848577; finalDepth = 235.654669; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.510653 # Altitude Set: 57.510653 # Vehicle Depth:246.848577 # Seafloor Depth:-302.598514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.13; MB_Bottom_Detect_Filter_Max_Range = 138.03; MB_Bottom_Detect_Filter_Min_Depth = 43.13; MB_Bottom_Detect_Filter_Max_Depth = 74.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.523618 meters # Minimum depth: 304.278076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.278076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829328; longitude = -122.163535; captureRadius = 10; duration = 76; initialDepth = 254.278076; finalDepth = 246.848577; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.375428 # Altitude Set: 57.375428 # Vehicle Depth:254.278076 # Seafloor Depth:-311.653504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.03; MB_Bottom_Detect_Filter_Max_Range = 137.70; MB_Bottom_Detect_Filter_Min_Depth = 43.03; MB_Bottom_Detect_Filter_Max_Depth = 74.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.268099 meters # Minimum depth: 313.910525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 263.910525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -122.163860; captureRadius = 10; duration = 79; initialDepth = 263.910525; finalDepth = 254.278076; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.375428 # Altitude Set: 57.375428 # Vehicle Depth:263.910525 # Seafloor Depth:-319.187039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.03; MB_Bottom_Detect_Filter_Max_Range = 137.70; MB_Bottom_Detect_Filter_Min_Depth = 43.03; MB_Bottom_Detect_Filter_Max_Depth = 74.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.547756 meters # Minimum depth: 322.767812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.767812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828418; longitude = -122.164194; captureRadius = 10; duration = 79; initialDepth = 272.767812; finalDepth = 263.910525; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.276514 # Altitude Set: 55.276514 # Vehicle Depth:272.767812 # Seafloor Depth:-326.682317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.46; MB_Bottom_Detect_Filter_Max_Range = 132.66; MB_Bottom_Detect_Filter_Min_Depth = 41.46; MB_Bottom_Detect_Filter_Max_Depth = 71.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.547841 meters # Minimum depth: 330.080145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 280.080145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827955; longitude = -122.164530; captureRadius = 10; duration = 79; initialDepth = 280.080145; finalDepth = 272.767812; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.919447 # Altitude Set: 53.919447 # Vehicle Depth:280.080145 # Seafloor Depth:-333.999592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.44; MB_Bottom_Detect_Filter_Max_Range = 129.41; MB_Bottom_Detect_Filter_Min_Depth = 40.44; MB_Bottom_Detect_Filter_Max_Depth = 70.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.731566 meters # Minimum depth: 334.631459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 284.631459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827491; longitude = -122.164866; captureRadius = 10; duration = 68; initialDepth = 284.631459; finalDepth = 280.080145; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.919447 # Altitude Set: 53.919447 # Vehicle Depth:284.631459 # Seafloor Depth:-337.074269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.44; MB_Bottom_Detect_Filter_Max_Range = 129.41; MB_Bottom_Detect_Filter_Min_Depth = 40.44; MB_Bottom_Detect_Filter_Max_Depth = 70.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524013 meters # Minimum depth: 333.244087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 283.244087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827088; longitude = -122.165158; captureRadius = 10; duration = 76; initialDepth = 283.244087; finalDepth = 284.631459; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.44281 # Altitude Set: 52.44281 # Vehicle Depth:283.244087 # Seafloor Depth:-334.331239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 125.86; MB_Bottom_Detect_Filter_Min_Depth = 39.33; MB_Bottom_Detect_Filter_Max_Depth = 68.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524090 meters # Minimum depth: 329.949917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 279.949917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826640; longitude = -122.165483; captureRadius = 10; duration = 76; initialDepth = 279.949917; finalDepth = 283.244087; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.417041 # Altitude Set: 53.417041 # Vehicle Depth:279.949917 # Seafloor Depth:-333.366958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.20; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.06; MB_Bottom_Detect_Filter_Max_Range = 128.20; MB_Bottom_Detect_Filter_Min_Depth = 40.06; MB_Bottom_Detect_Filter_Max_Depth = 69.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524170 meters # Minimum depth: 322.135998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.135998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826192; longitude = -122.165808; captureRadius = 10; duration = 76; initialDepth = 272.135998; finalDepth = 279.949917; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.900386 # Altitude Set: 56.900386 # Vehicle Depth:272.135998 # Seafloor Depth:-329.036384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.68; MB_Bottom_Detect_Filter_Max_Range = 136.56; MB_Bottom_Detect_Filter_Min_Depth = 42.68; MB_Bottom_Detect_Filter_Max_Depth = 73.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524248 meters # Minimum depth: 321.442918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 271.442918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825744; longitude = -122.166132; captureRadius = 10; duration = 76; initialDepth = 271.442918; finalDepth = 272.135998; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.900386 # Altitude Set: 56.900386 # Vehicle Depth:271.442918 # Seafloor Depth:-321.798748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.68; MB_Bottom_Detect_Filter_Max_Range = 136.56; MB_Bottom_Detect_Filter_Min_Depth = 42.68; MB_Bottom_Detect_Filter_Max_Depth = 73.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524328 meters # Minimum depth: 322.128511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.128511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825295; longitude = -122.166457; captureRadius = 10; duration = 76; initialDepth = 272.128511; finalDepth = 271.442918; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.35583 # Altitude Set: 50.35583 # Vehicle Depth:272.128511 # Seafloor Depth:-322.128511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.77; MB_Bottom_Detect_Filter_Max_Range = 120.85; MB_Bottom_Detect_Filter_Min_Depth = 37.77; MB_Bottom_Detect_Filter_Max_Depth = 65.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.635342 meters # Minimum depth: 323.171829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 273.171829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824847; longitude = -122.166782; captureRadius = 10; duration = 76; initialDepth = 273.171829; finalDepth = 272.128511; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.412698 # Altitude Set: 52.412698 # Vehicle Depth:273.171829 # Seafloor Depth:-325.584527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 125.79; MB_Bottom_Detect_Filter_Min_Depth = 39.31; MB_Bottom_Detect_Filter_Max_Depth = 68.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.548487 meters # Minimum depth: 327.752704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 277.752704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824398; longitude = -122.167107; captureRadius = 10; duration = 79; initialDepth = 277.752704; finalDepth = 273.171829; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.74129 # Altitude Set: 52.74129 # Vehicle Depth:277.752704 # Seafloor Depth:-330.493994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.56; MB_Bottom_Detect_Filter_Max_Range = 126.58; MB_Bottom_Detect_Filter_Min_Depth = 39.56; MB_Bottom_Detect_Filter_Max_Depth = 68.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.548571 meters # Minimum depth: 331.957685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.957685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823935; longitude = -122.167443; captureRadius = 10; duration = 79; initialDepth = 281.957685; finalDepth = 277.752704; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.74129 # Altitude Set: 52.74129 # Vehicle Depth:281.957685 # Seafloor Depth:-332.102296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.56; MB_Bottom_Detect_Filter_Max_Range = 126.58; MB_Bottom_Detect_Filter_Min_Depth = 39.56; MB_Bottom_Detect_Filter_Max_Depth = 68.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.548656 meters # Minimum depth: 331.209877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.209877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823471; longitude = -122.167779; captureRadius = 10; duration = 79; initialDepth = 281.209877; finalDepth = 281.957685; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.662438 # Altitude Set: 50.662438 # Vehicle Depth:281.209877 # Seafloor Depth:-331.872315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 121.59; MB_Bottom_Detect_Filter_Min_Depth = 38.00; MB_Bottom_Detect_Filter_Max_Depth = 65.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.341760 meters # Minimum depth: 331.094153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.094153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823007; longitude = -122.168115; captureRadius = 10; duration = 68; initialDepth = 281.094153; finalDepth = 281.209877; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.662438 # Altitude Set: 50.662438 # Vehicle Depth:281.094153 # Seafloor Depth:-331.436892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 121.59; MB_Bottom_Detect_Filter_Min_Depth = 38.00; MB_Bottom_Detect_Filter_Max_Depth = 65.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524799 meters # Minimum depth: 331.094153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 281.094153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822607; longitude = -122.168405; captureRadius = 10; duration = 76; initialDepth = 281.094153; finalDepth = 281.094153; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.025252 # Altitude Set: 52.025252 # Vehicle Depth:281.094153 # Seafloor Depth:-333.119405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.02; MB_Bottom_Detect_Filter_Max_Range = 124.86; MB_Bottom_Detect_Filter_Min_Depth = 39.02; MB_Bottom_Detect_Filter_Max_Depth = 67.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524878 meters # Minimum depth: 333.845730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 283.845730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822159; longitude = -122.168729; captureRadius = 10; duration = 76; initialDepth = 283.845730; finalDepth = 281.094153; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.025252 # Altitude Set: 52.025252 # Vehicle Depth:283.84573 # Seafloor Depth:-334.471987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.02; MB_Bottom_Detect_Filter_Max_Range = 124.86; MB_Bottom_Detect_Filter_Min_Depth = 39.02; MB_Bottom_Detect_Filter_Max_Depth = 67.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.524957 meters # Minimum depth: 335.668915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.668915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821711; longitude = -122.169054; captureRadius = 10; duration = 76; initialDepth = 285.668915; finalDepth = 283.845730; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.609321 # Altitude Set: 51.609321 # Vehicle Depth:285.668915 # Seafloor Depth:-337.278236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.86; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525035 meters # Minimum depth: 337.532655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 287.532655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821263; longitude = -122.169379; captureRadius = 10; duration = 76; initialDepth = 287.532655; finalDepth = 285.668915; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.609321 # Altitude Set: 51.609321 # Vehicle Depth:287.532655 # Seafloor Depth:-338.921605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.86; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525115 meters # Minimum depth: 340.303268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 290.303268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820815; longitude = -122.169703; captureRadius = 10; duration = 76; initialDepth = 290.303268; finalDepth = 287.532655; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.817881 # Altitude Set: 51.817881 # Vehicle Depth:290.303268 # Seafloor Depth:-342.121149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 124.36; MB_Bottom_Detect_Filter_Min_Depth = 38.86; MB_Bottom_Detect_Filter_Max_Depth = 67.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.026649 meters # Minimum depth: 342.197004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 292.197004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820367; longitude = -122.170028; captureRadius = 10; duration = 77; initialDepth = 292.197004; finalDepth = 290.303268; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.817881 # Altitude Set: 51.817881 # Vehicle Depth:292.197004 # Seafloor Depth:-342.867056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 124.36; MB_Bottom_Detect_Filter_Min_Depth = 38.86; MB_Bottom_Detect_Filter_Max_Depth = 67.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.549302 meters # Minimum depth: 343.510840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 293.510840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819915; longitude = -122.170355; captureRadius = 10; duration = 79; initialDepth = 293.510840; finalDepth = 292.197004; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.178886 # Altitude Set: 51.178886 # Vehicle Depth:293.51084 # Seafloor Depth:-344.689726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 122.83; MB_Bottom_Detect_Filter_Min_Depth = 38.38; MB_Bottom_Detect_Filter_Max_Depth = 66.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.549387 meters # Minimum depth: 345.971775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 295.971775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819451; longitude = -122.170691; captureRadius = 10; duration = 79; initialDepth = 295.971775; finalDepth = 293.510840; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.134764 # Altitude Set: 52.134764 # Vehicle Depth:295.971775 # Seafloor Depth:-348.106539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 125.12; MB_Bottom_Detect_Filter_Min_Depth = 39.10; MB_Bottom_Detect_Filter_Max_Depth = 67.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.549471 meters # Minimum depth: 349.846266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 299.846266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818987; longitude = -122.171027; captureRadius = 10; duration = 79; initialDepth = 299.846266; finalDepth = 295.971775; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.257501 # Altitude Set: 52.257501 # Vehicle Depth:299.846266 # Seafloor Depth:-352.103767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.42; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.951942 meters # Minimum depth: 351.803024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 301.803024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818523; longitude = -122.171363; captureRadius = 10; duration = 67; initialDepth = 301.803024; finalDepth = 299.846266; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.257501 # Altitude Set: 52.257501 # Vehicle Depth:301.803024 # Seafloor Depth:-353.803858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.42; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525587 meters # Minimum depth: 354.737784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.737784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818126; longitude = -122.171651; captureRadius = 10; duration = 76; initialDepth = 304.737784; finalDepth = 301.803024; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.000834 # Altitude Set: 52.000834 # Vehicle Depth:304.737784 # Seafloor Depth:-356.042303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 124.80; MB_Bottom_Detect_Filter_Min_Depth = 39.00; MB_Bottom_Detect_Filter_Max_Depth = 67.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.321472 meters # Minimum depth: 355.288680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.288680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817678; longitude = -122.171976; captureRadius = 10; duration = 67; initialDepth = 305.288680; finalDepth = 304.737784; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.304519 # Altitude Set: 51.304519 # Vehicle Depth:305.28868 # Seafloor Depth:-356.004062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 123.13; MB_Bottom_Detect_Filter_Min_Depth = 38.48; MB_Bottom_Detect_Filter_Max_Depth = 66.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.348494 meters # Minimum depth: 355.288680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.288680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817286; longitude = -122.172260; captureRadius = 10; duration = 67; initialDepth = 305.288680; finalDepth = 305.288680; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.826421 # Altitude Set: 50.826421 # Vehicle Depth:305.28868 # Seafloor Depth:-356.115101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 121.98; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 66.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525803 meters # Minimum depth: 355.301047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.301047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816894; longitude = -122.172544; captureRadius = 10; duration = 76; initialDepth = 305.301047; finalDepth = 305.288680; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.429952 # Altitude Set: 52.429952 # Vehicle Depth:305.301047 # Seafloor Depth:-357.730999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.32; MB_Bottom_Detect_Filter_Max_Range = 125.83; MB_Bottom_Detect_Filter_Min_Depth = 39.32; MB_Bottom_Detect_Filter_Max_Depth = 68.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525881 meters # Minimum depth: 358.881757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 308.881757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816446; longitude = -122.172868; captureRadius = 10; duration = 76; initialDepth = 308.881757; finalDepth = 305.301047; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.429952 # Altitude Set: 52.429952 # Vehicle Depth:308.881757 # Seafloor Depth:-359.070872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.83; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.32; MB_Bottom_Detect_Filter_Max_Range = 125.83; MB_Bottom_Detect_Filter_Min_Depth = 39.32; MB_Bottom_Detect_Filter_Max_Depth = 68.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.525961 meters # Minimum depth: 358.946623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 308.946623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815998; longitude = -122.173193; captureRadius = 10; duration = 76; initialDepth = 308.946623; finalDepth = 308.881757; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.140203 # Altitude Set: 52.140203 # Vehicle Depth:308.946623 # Seafloor Depth:-361.086826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 125.14; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 67.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526039 meters # Minimum depth: 360.881050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 310.881050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815550; longitude = -122.173518; captureRadius = 10; duration = 76; initialDepth = 310.881050; finalDepth = 308.946623; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.140203 # Altitude Set: 52.140203 # Vehicle Depth:310.88105 # Seafloor Depth:-362.396961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 125.14; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 67.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526118 meters # Minimum depth: 362.409063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 312.409063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815102; longitude = -122.173842; captureRadius = 10; duration = 76; initialDepth = 312.409063; finalDepth = 310.881050; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.515911 # Altitude Set: 51.515911 # Vehicle Depth:312.409063 # Seafloor Depth:-363.194661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 123.64; MB_Bottom_Detect_Filter_Min_Depth = 38.64; MB_Bottom_Detect_Filter_Max_Depth = 66.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.021833 meters # Minimum depth: 363.214461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 313.214461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814654; longitude = -122.174167; captureRadius = 10; duration = 78; initialDepth = 313.214461; finalDepth = 312.409063; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.124735 # Altitude Set: 51.124735 # Vehicle Depth:313.214461 # Seafloor Depth:-364.339196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 122.70; MB_Bottom_Detect_Filter_Min_Depth = 38.34; MB_Bottom_Detect_Filter_Max_Depth = 66.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.550343 meters # Minimum depth: 365.037837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 315.037837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814194; longitude = -122.174500; captureRadius = 10; duration = 79; initialDepth = 315.037837; finalDepth = 313.214461; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.622062 # Altitude Set: 51.622062 # Vehicle Depth:315.037837 # Seafloor Depth:-366.659899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.72; MB_Bottom_Detect_Filter_Max_Range = 123.89; MB_Bottom_Detect_Filter_Min_Depth = 38.72; MB_Bottom_Detect_Filter_Max_Depth = 67.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.550427 meters # Minimum depth: 367.873349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 317.873349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813730; longitude = -122.174836; captureRadius = 10; duration = 79; initialDepth = 317.873349; finalDepth = 315.037837; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.766069 # Altitude Set: 51.766069 # Vehicle Depth:317.873349 # Seafloor Depth:-369.639418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.24; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.982656 meters # Minimum depth: 369.754417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 319.754417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813267; longitude = -122.175172; captureRadius = 10; duration = 69; initialDepth = 319.754417; finalDepth = 317.873349; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.766069 # Altitude Set: 51.766069 # Vehicle Depth:319.754417 # Seafloor Depth:-370.187350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.24; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526511 meters # Minimum depth: 370.890367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 320.890367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812862; longitude = -122.175465; captureRadius = 10; duration = 76; initialDepth = 320.890367; finalDepth = 319.754417; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.803128 # Altitude Set: 50.803128 # Vehicle Depth:320.890367 # Seafloor Depth:-371.693495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 66.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526591 meters # Minimum depth: 372.712317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 322.712317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812414; longitude = -122.175790; captureRadius = 10; duration = 76; initialDepth = 322.712317; finalDepth = 320.890367; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.61681 # Altitude Set: 51.61681 # Vehicle Depth:322.712317 # Seafloor Depth:-374.329127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.88; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526668 meters # Minimum depth: 374.626140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 324.626140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811966; longitude = -122.176115; captureRadius = 10; duration = 76; initialDepth = 324.626140; finalDepth = 322.712317; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.61681 # Altitude Set: 51.61681 # Vehicle Depth:324.62614 # Seafloor Depth:-375.508849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.88; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526748 meters # Minimum depth: 377.649415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.649415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811517; longitude = -122.176439; captureRadius = 10; duration = 76; initialDepth = 327.649415; finalDepth = 324.626140; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.882709 # Altitude Set: 50.882709 # Vehicle Depth:327.649415 # Seafloor Depth:-378.252042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 122.12; MB_Bottom_Detect_Filter_Min_Depth = 38.16; MB_Bottom_Detect_Filter_Max_Depth = 66.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526827 meters # Minimum depth: 379.468840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.468840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811069; longitude = -122.176764; captureRadius = 10; duration = 76; initialDepth = 329.468840; finalDepth = 327.649415; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.602627 # Altitude Set: 50.602627 # Vehicle Depth:329.46884 # Seafloor Depth:-379.835701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 121.45; MB_Bottom_Detect_Filter_Min_Depth = 37.95; MB_Bottom_Detect_Filter_Max_Depth = 65.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.526905 meters # Minimum depth: 379.616149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.616149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810621; longitude = -122.177088; captureRadius = 10; duration = 76; initialDepth = 329.616149; finalDepth = 329.468840; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.502337 # Altitude Set: 50.502337 # Vehicle Depth:329.616149 # Seafloor Depth:-380.118486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 121.21; MB_Bottom_Detect_Filter_Min_Depth = 37.88; MB_Bottom_Detect_Filter_Max_Depth = 65.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.413171 meters # Minimum depth: 381.135063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 331.135063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810173; longitude = -122.177413; captureRadius = 10; duration = 79; initialDepth = 331.135063; finalDepth = 329.616149; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.530123 # Altitude Set: 53.530123 # Vehicle Depth:331.135063 # Seafloor Depth:-384.665186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 128.47; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 69.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.551159 meters # Minimum depth: 387.127235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 337.127235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809710; longitude = -122.177748; captureRadius = 10; duration = 79; initialDepth = 337.127235; finalDepth = 331.135063; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.530123 # Altitude Set: 53.530123 # Vehicle Depth:337.127235 # Seafloor Depth:-388.646679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 128.47; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 69.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.551242 meters # Minimum depth: 389.720733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.720733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809247; longitude = -122.178084; captureRadius = 10; duration = 79; initialDepth = 339.720733; finalDepth = 337.127235; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.519444 # Altitude Set: 51.519444 # Vehicle Depth:339.720733 # Seafloor Depth:-390.823116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 123.65; MB_Bottom_Detect_Filter_Min_Depth = 38.64; MB_Bottom_Detect_Filter_Max_Depth = 66.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.592836 meters # Minimum depth: 391.167715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 341.167715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808783; longitude = -122.178420; captureRadius = 10; duration = 68; initialDepth = 341.167715; finalDepth = 339.720733; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.959393 # Altitude Set: 51.959393 # Vehicle Depth:341.167715 # Seafloor Depth:-393.127108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.97; MB_Bottom_Detect_Filter_Max_Range = 124.70; MB_Bottom_Detect_Filter_Min_Depth = 38.97; MB_Bottom_Detect_Filter_Max_Depth = 67.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.527299 meters # Minimum depth: 394.234897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 344.234897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808381; longitude = -122.178712; captureRadius = 10; duration = 76; initialDepth = 344.234897; finalDepth = 341.167715; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.243901 # Altitude Set: 53.243901 # Vehicle Depth:344.234897 # Seafloor Depth:-397.478798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 127.79; MB_Bottom_Detect_Filter_Min_Depth = 39.93; MB_Bottom_Detect_Filter_Max_Depth = 69.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.527377 meters # Minimum depth: 399.477112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 349.477112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807933; longitude = -122.179036; captureRadius = 10; duration = 76; initialDepth = 349.477112; finalDepth = 344.234897; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.243901 # Altitude Set: 53.243901 # Vehicle Depth:349.477112 # Seafloor Depth:-400.832946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.79; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 127.79; MB_Bottom_Detect_Filter_Min_Depth = 39.93; MB_Bottom_Detect_Filter_Max_Depth = 69.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.527456 meters # Minimum depth: 402.392746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 352.392746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807485; longitude = -122.179361; captureRadius = 10; duration = 76; initialDepth = 352.392746; finalDepth = 349.477112; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.355834 # Altitude Set: 51.355834 # Vehicle Depth:352.392746 # Seafloor Depth:-403.494857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.25; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 57.527535 meters # Minimum depth: 406.653379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 356.653379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807037; longitude = -122.179685; captureRadius = 10; duration = 76; initialDepth = 356.653379; finalDepth = 352.392746; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.223786 # Altitude Set: 51.223786 # Vehicle Depth:356.653379 # Seafloor Depth:-407.877165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.94; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.42; MB_Bottom_Detect_Filter_Max_Range = 122.94; MB_Bottom_Detect_Filter_Min_Depth = 38.42; MB_Bottom_Detect_Filter_Max_Depth = 66.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 62.359982 meters # Minimum depth: 412.485149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 362.485149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806589; longitude = -122.180010; captureRadius = 10; duration = 83; initialDepth = 362.485149; finalDepth = 356.653379; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.744123 # Altitude Set: 51.744123 # Vehicle Depth:362.485149 # Seafloor Depth:-414.229272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 124.19; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 67.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 41.109025 meters # Minimum depth: 413.725437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 363.725437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806103; longitude = -122.180362; captureRadius = 10; duration = 54; initialDepth = 363.725437; finalDepth = 362.485149; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.744123 # Altitude Set: 51.744123 # Vehicle Depth:363.725437 # Seafloor Depth:-415.023155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 124.19; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 67.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 55.232405 meters # Minimum depth: 413.670210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 363.670210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805917; longitude = -122.179964; captureRadius = 10; duration = 73; initialDepth = 363.670210; finalDepth = 363.725437; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.929357 # Altitude Set: 51.929357 # Vehicle Depth:363.67021 # Seafloor Depth:-415.599567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.95; MB_Bottom_Detect_Filter_Max_Range = 124.63; MB_Bottom_Detect_Filter_Min_Depth = 38.95; MB_Bottom_Detect_Filter_Max_Depth = 67.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.631281 meters # Minimum depth: 411.979812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 361.979812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805666; longitude = -122.179429; captureRadius = 10; duration = 71; initialDepth = 361.979812; finalDepth = 363.670210; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.929357 # Altitude Set: 51.929357 # Vehicle Depth:361.979812 # Seafloor Depth:-413.567923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.95; MB_Bottom_Detect_Filter_Max_Range = 124.63; MB_Bottom_Detect_Filter_Min_Depth = 38.95; MB_Bottom_Detect_Filter_Max_Depth = 67.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 34.613851 meters # Minimum depth: 411.979812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 361.979812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805423; longitude = -122.178909; captureRadius = 10; duration = 46; initialDepth = 361.979812; finalDepth = 361.979812; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.615067 # Altitude Set: 51.615067 # Vehicle Depth:361.979812 # Seafloor Depth:-413.594879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.88; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.533112 meters # Minimum depth: 407.978708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 357.978708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805693; longitude = -122.178714; captureRadius = 10; duration = 76; initialDepth = 357.978708; finalDepth = 361.979812; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.9743 # Altitude Set: 53.9743 # Vehicle Depth:357.978708 # Seafloor Depth:-411.953008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.48; MB_Bottom_Detect_Filter_Max_Range = 129.54; MB_Bottom_Detect_Filter_Min_Depth = 40.48; MB_Bottom_Detect_Filter_Max_Depth = 70.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.533033 meters # Minimum depth: 407.332394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 357.332394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806141; longitude = -122.178389; captureRadius = 10; duration = 76; initialDepth = 357.332394; finalDepth = 357.978708; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.9743 # Altitude Set: 53.9743 # Vehicle Depth:357.332394 # Seafloor Depth:-407.616513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.48; MB_Bottom_Detect_Filter_Max_Range = 129.54; MB_Bottom_Detect_Filter_Min_Depth = 40.48; MB_Bottom_Detect_Filter_Max_Depth = 70.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.532955 meters # Minimum depth: 404.663254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 354.663254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806589; longitude = -122.178064; captureRadius = 10; duration = 76; initialDepth = 354.663254; finalDepth = 357.332394; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.538459 # Altitude Set: 52.538459 # Vehicle Depth:354.663254 # Seafloor Depth:-407.201713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 39.40; MB_Bottom_Detect_Filter_Max_Depth = 68.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.944934 meters # Minimum depth: 399.850003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 349.850003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807037; longitude = -122.177739; captureRadius = 10; duration = 77; initialDepth = 349.850003; finalDepth = 354.663254; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.099065 # Altitude Set: 55.099065 # Vehicle Depth:349.850003 # Seafloor Depth:-404.949068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.32; MB_Bottom_Detect_Filter_Max_Range = 132.24; MB_Bottom_Detect_Filter_Min_Depth = 41.32; MB_Bottom_Detect_Filter_Max_Depth = 71.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.535033 meters # Minimum depth: 396.877961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 346.877961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807488; longitude = -122.177412; captureRadius = 10; duration = 79; initialDepth = 346.877961; finalDepth = 349.850003; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.099065 # Altitude Set: 55.099065 # Vehicle Depth:346.877961 # Seafloor Depth:-399.815409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.32; MB_Bottom_Detect_Filter_Max_Range = 132.24; MB_Bottom_Detect_Filter_Min_Depth = 41.32; MB_Bottom_Detect_Filter_Max_Depth = 71.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.534948 meters # Minimum depth: 394.827973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 344.827973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807952; longitude = -122.177076; captureRadius = 10; duration = 79; initialDepth = 344.827973; finalDepth = 346.877961; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.937448 # Altitude Set: 52.937448 # Vehicle Depth:344.827973 # Seafloor Depth:-396.494219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.70; MB_Bottom_Detect_Filter_Max_Range = 127.05; MB_Bottom_Detect_Filter_Min_Depth = 39.70; MB_Bottom_Detect_Filter_Max_Depth = 68.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.534864 meters # Minimum depth: 392.059461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 342.059461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808415; longitude = -122.176740; captureRadius = 10; duration = 79; initialDepth = 342.059461; finalDepth = 344.827973; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.266912 # Altitude Set: 52.266912 # Vehicle Depth:342.059461 # Seafloor Depth:-394.326373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 125.44; MB_Bottom_Detect_Filter_Min_Depth = 39.20; MB_Bottom_Detect_Filter_Max_Depth = 67.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.113810 meters # Minimum depth: 389.249778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.249778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808879; longitude = -122.176404; captureRadius = 10; duration = 68; initialDepth = 339.249778; finalDepth = 342.059461; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.266912 # Altitude Set: 52.266912 # Vehicle Depth:339.249778 # Seafloor Depth:-391.142409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 125.44; MB_Bottom_Detect_Filter_Min_Depth = 39.20; MB_Bottom_Detect_Filter_Max_Depth = 67.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.532482 meters # Minimum depth: 387.476893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 337.476893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809277; longitude = -122.176116; captureRadius = 10; duration = 76; initialDepth = 337.476893; finalDepth = 339.249778; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.927002 # Altitude Set: 51.927002 # Vehicle Depth:337.476893 # Seafloor Depth:-389.403895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.95; MB_Bottom_Detect_Filter_Max_Range = 124.62; MB_Bottom_Detect_Filter_Min_Depth = 38.95; MB_Bottom_Detect_Filter_Max_Depth = 67.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.112932 meters # Minimum depth: 385.688250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.688250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809725; longitude = -122.175791; captureRadius = 10; duration = 66; initialDepth = 335.688250; finalDepth = 337.476893; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.310811 # Altitude Set: 52.310811 # Vehicle Depth:335.68825 # Seafloor Depth:-387.999061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 125.55; MB_Bottom_Detect_Filter_Min_Depth = 39.23; MB_Bottom_Detect_Filter_Max_Depth = 68.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.568721 meters # Minimum depth: 385.688250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.688250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810115; longitude = -122.175508; captureRadius = 10; duration = 67; initialDepth = 335.688250; finalDepth = 335.688250; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.310811 # Altitude Set: 52.310811 # Vehicle Depth:335.68825 # Seafloor Depth:-385.849575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 125.55; MB_Bottom_Detect_Filter_Min_Depth = 39.23; MB_Bottom_Detect_Filter_Max_Depth = 68.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.532265 meters # Minimum depth: 385.958404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.958404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810509; longitude = -122.175223; captureRadius = 10; duration = 76; initialDepth = 335.958404; finalDepth = 335.688250; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.450674 # Altitude Set: 50.450674 # Vehicle Depth:335.958404 # Seafloor Depth:-386.409078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.84; MB_Bottom_Detect_Filter_Max_Range = 121.08; MB_Bottom_Detect_Filter_Min_Depth = 37.84; MB_Bottom_Detect_Filter_Max_Depth = 65.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.657639 meters # Minimum depth: 382.206620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.206620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810957; longitude = -122.174898; captureRadius = 10; duration = 67; initialDepth = 332.206620; finalDepth = 335.958404; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.239112 # Altitude Set: 54.239112 # Vehicle Depth:332.20662 # Seafloor Depth:-386.445732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.68; MB_Bottom_Detect_Filter_Max_Range = 130.17; MB_Bottom_Detect_Filter_Min_Depth = 40.68; MB_Bottom_Detect_Filter_Max_Depth = 70.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.023635 meters # Minimum depth: 379.126241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.126241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811352; longitude = -122.174612; captureRadius = 10; duration = 66; initialDepth = 329.126241; finalDepth = 332.206620; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.239112 # Altitude Set: 54.239112 # Vehicle Depth:329.126241 # Seafloor Depth:-382.064993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.68; MB_Bottom_Detect_Filter_Max_Range = 130.17; MB_Bottom_Detect_Filter_Min_Depth = 40.68; MB_Bottom_Detect_Filter_Max_Depth = 70.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.532048 meters # Minimum depth: 376.271341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 326.271341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811741; longitude = -122.174330; captureRadius = 10; duration = 76; initialDepth = 326.271341; finalDepth = 329.126241; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.213588 # Altitude Set: 53.213588 # Vehicle Depth:326.271341 # Seafloor Depth:-379.484929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.91; MB_Bottom_Detect_Filter_Max_Range = 127.71; MB_Bottom_Detect_Filter_Min_Depth = 39.91; MB_Bottom_Detect_Filter_Max_Depth = 69.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531970 meters # Minimum depth: 373.841569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.841569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812190; longitude = -122.174005; captureRadius = 10; duration = 76; initialDepth = 323.841569; finalDepth = 326.271341; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.213588 # Altitude Set: 53.213588 # Vehicle Depth:323.841569 # Seafloor Depth:-376.321058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.91; MB_Bottom_Detect_Filter_Max_Range = 127.71; MB_Bottom_Detect_Filter_Min_Depth = 39.91; MB_Bottom_Detect_Filter_Max_Depth = 69.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531891 meters # Minimum depth: 372.165454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 322.165454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812638; longitude = -122.173680; captureRadius = 10; duration = 76; initialDepth = 322.165454; finalDepth = 323.841569; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.479489 # Altitude Set: 52.479489 # Vehicle Depth:322.165454 # Seafloor Depth:-374.277297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.36; MB_Bottom_Detect_Filter_Max_Range = 125.95; MB_Bottom_Detect_Filter_Min_Depth = 39.36; MB_Bottom_Detect_Filter_Max_Depth = 68.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531812 meters # Minimum depth: 371.215653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 321.215653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -122.173355; captureRadius = 10; duration = 76; initialDepth = 321.215653; finalDepth = 322.165454; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.111843 # Altitude Set: 52.111843 # Vehicle Depth:321.215653 # Seafloor Depth:-372.377545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.07; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531733 meters # Minimum depth: 369.888740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 319.888740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813534; longitude = -122.173031; captureRadius = 10; duration = 76; initialDepth = 319.888740; finalDepth = 321.215653; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.358855 # Altitude Set: 51.358855 # Vehicle Depth:319.88874 # Seafloor Depth:-371.247595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.26; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.210848 meters # Minimum depth: 367.365946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 317.365946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813982; longitude = -122.172706; captureRadius = 10; duration = 78; initialDepth = 317.365946; finalDepth = 319.888740; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.490821 # Altitude Set: 52.490821 # Vehicle Depth:317.365946 # Seafloor Depth:-369.856767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.37; MB_Bottom_Detect_Filter_Max_Range = 125.98; MB_Bottom_Detect_Filter_Min_Depth = 39.37; MB_Bottom_Detect_Filter_Max_Depth = 68.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.533768 meters # Minimum depth: 365.635761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 315.635761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814443; longitude = -122.172372; captureRadius = 10; duration = 79; initialDepth = 315.635761; finalDepth = 317.365946; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.490821 # Altitude Set: 52.490821 # Vehicle Depth:315.635761 # Seafloor Depth:-367.697339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.98; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.37; MB_Bottom_Detect_Filter_Max_Range = 125.98; MB_Bottom_Detect_Filter_Min_Depth = 39.37; MB_Bottom_Detect_Filter_Max_Depth = 68.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.533682 meters # Minimum depth: 364.595069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 314.595069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814907; longitude = -122.172036; captureRadius = 10; duration = 79; initialDepth = 314.595069; finalDepth = 315.635761; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.061578 # Altitude Set: 52.061578 # Vehicle Depth:314.595069 # Seafloor Depth:-365.552558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.05; MB_Bottom_Detect_Filter_Max_Range = 124.95; MB_Bottom_Detect_Filter_Min_Depth = 39.05; MB_Bottom_Detect_Filter_Max_Depth = 67.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.847847 meters # Minimum depth: 364.489575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 314.489575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815370; longitude = -122.171699; captureRadius = 10; duration = 69; initialDepth = 314.489575; finalDepth = 314.595069; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.957489 # Altitude Set: 50.957489 # Vehicle Depth:314.489575 # Seafloor Depth:-364.705676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.22; MB_Bottom_Detect_Filter_Max_Range = 122.30; MB_Bottom_Detect_Filter_Min_Depth = 38.22; MB_Bottom_Detect_Filter_Max_Depth = 66.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531339 meters # Minimum depth: 361.388979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.388979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815774; longitude = -122.171407; captureRadius = 10; duration = 76; initialDepth = 311.388979; finalDepth = 314.489575; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.123665 # Altitude Set: 52.123665 # Vehicle Depth:311.388979 # Seafloor Depth:-363.512644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 125.10; MB_Bottom_Detect_Filter_Min_Depth = 39.09; MB_Bottom_Detect_Filter_Max_Depth = 67.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531261 meters # Minimum depth: 361.388979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.388979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816222; longitude = -122.171082; captureRadius = 10; duration = 76; initialDepth = 311.388979; finalDepth = 311.388979; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.123665 # Altitude Set: 52.123665 # Vehicle Depth:311.388979 # Seafloor Depth:-362.038014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 125.10; MB_Bottom_Detect_Filter_Min_Depth = 39.09; MB_Bottom_Detect_Filter_Max_Depth = 67.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531182 meters # Minimum depth: 361.801918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.801918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816670; longitude = -122.170757; captureRadius = 10; duration = 76; initialDepth = 311.801918; finalDepth = 311.388979; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.155378 # Altitude Set: 52.155378 # Vehicle Depth:311.801918 # Seafloor Depth:-363.957296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 125.17; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 67.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531103 meters # Minimum depth: 361.498126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.498126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817118; longitude = -122.170433; captureRadius = 10; duration = 76; initialDepth = 311.498126; finalDepth = 311.801918; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.155378 # Altitude Set: 52.155378 # Vehicle Depth:311.498126 # Seafloor Depth:-362.679084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.17; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 125.17; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 67.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.531024 meters # Minimum depth: 358.792271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 308.792271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817566; longitude = -122.170108; captureRadius = 10; duration = 76; initialDepth = 308.792271; finalDepth = 311.498126; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.257416 # Altitude Set: 52.257416 # Vehicle Depth:308.792271 # Seafloor Depth:-361.049687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.42; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530946 meters # Minimum depth: 355.628533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.628533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818014; longitude = -122.169783; captureRadius = 10; duration = 76; initialDepth = 305.628533; finalDepth = 308.792271; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.354756 # Altitude Set: 53.354756 # Vehicle Depth:305.628533 # Seafloor Depth:-358.983289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.02; MB_Bottom_Detect_Filter_Max_Range = 128.05; MB_Bottom_Detect_Filter_Min_Depth = 40.02; MB_Bottom_Detect_Filter_Max_Depth = 69.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.387399 meters # Minimum depth: 353.435587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 303.435587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818462; longitude = -122.169458; captureRadius = 10; duration = 79; initialDepth = 303.435587; finalDepth = 305.628533; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.354756 # Altitude Set: 53.354756 # Vehicle Depth:303.435587 # Seafloor Depth:-355.629700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.05; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.02; MB_Bottom_Detect_Filter_Max_Range = 128.05; MB_Bottom_Detect_Filter_Min_Depth = 40.02; MB_Bottom_Detect_Filter_Max_Depth = 69.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.532952 meters # Minimum depth: 351.590674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 301.590674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818925; longitude = -122.169123; captureRadius = 10; duration = 79; initialDepth = 301.590674; finalDepth = 303.435587; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.194113 # Altitude Set: 52.194113 # Vehicle Depth:301.590674 # Seafloor Depth:-353.451644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 125.27; MB_Bottom_Detect_Filter_Min_Depth = 39.15; MB_Bottom_Detect_Filter_Max_Depth = 67.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.532867 meters # Minimum depth: 348.339336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 298.339336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819389; longitude = -122.168787; captureRadius = 10; duration = 79; initialDepth = 298.339336; finalDepth = 301.590674; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.947902 # Altitude Set: 52.947902 # Vehicle Depth:298.339336 # Seafloor Depth:-351.287238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 127.07; MB_Bottom_Detect_Filter_Min_Depth = 39.71; MB_Bottom_Detect_Filter_Max_Depth = 68.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.669776 meters # Minimum depth: 346.948888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 296.948888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819852; longitude = -122.168451; captureRadius = 10; duration = 68; initialDepth = 296.948888; finalDepth = 298.339336; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.947902 # Altitude Set: 52.947902 # Vehicle Depth:296.948888 # Seafloor Depth:-347.737974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 127.07; MB_Bottom_Detect_Filter_Min_Depth = 39.71; MB_Bottom_Detect_Filter_Max_Depth = 68.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530552 meters # Minimum depth: 345.193734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 295.193734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820255; longitude = -122.168159; captureRadius = 10; duration = 76; initialDepth = 295.193734; finalDepth = 296.948888; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.789086 # Altitude Set: 50.789086 # Vehicle Depth:295.193734 # Seafloor Depth:-345.794045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.89; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 121.89; MB_Bottom_Detect_Filter_Min_Depth = 38.09; MB_Bottom_Detect_Filter_Max_Depth = 66.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530473 meters # Minimum depth: 343.340237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 293.340237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820703; longitude = -122.167835; captureRadius = 10; duration = 76; initialDepth = 293.340237; finalDepth = 295.193734; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.2016 # Altitude Set: 51.2016 # Vehicle Depth:293.340237 # Seafloor Depth:-344.541837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.40; MB_Bottom_Detect_Filter_Max_Range = 122.88; MB_Bottom_Detect_Filter_Min_Depth = 38.40; MB_Bottom_Detect_Filter_Max_Depth = 66.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530394 meters # Minimum depth: 340.658037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 290.658037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821151; longitude = -122.167510; captureRadius = 10; duration = 76; initialDepth = 290.658037; finalDepth = 293.340237; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.384621 # Altitude Set: 52.384621 # Vehicle Depth:290.658037 # Seafloor Depth:-343.042658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 125.72; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 68.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530315 meters # Minimum depth: 339.537736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 289.537736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821599; longitude = -122.167185; captureRadius = 10; duration = 76; initialDepth = 289.537736; finalDepth = 290.658037; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.384621 # Altitude Set: 52.384621 # Vehicle Depth:289.537736 # Seafloor Depth:-340.343212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 125.72; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 68.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.530237 meters # Minimum depth: 338.849182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 288.849182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822047; longitude = -122.166860; captureRadius = 10; duration = 76; initialDepth = 288.849182; finalDepth = 289.537736; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.805476 # Altitude Set: 50.805476 # Vehicle Depth:288.849182 # Seafloor Depth:-339.351361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 66.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.561882 meters # Minimum depth: 338.849182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 288.849182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822495; longitude = -122.166536; captureRadius = 10; duration = 76; initialDepth = 288.849182; finalDepth = 288.849182; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.738961 # Altitude Set: 50.738961 # Vehicle Depth:288.849182 # Seafloor Depth:-339.588143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.05; MB_Bottom_Detect_Filter_Max_Range = 121.77; MB_Bottom_Detect_Filter_Min_Depth = 38.05; MB_Bottom_Detect_Filter_Max_Depth = 65.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.532221 meters # Minimum depth: 339.207975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 289.207975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822943; longitude = -122.166211; captureRadius = 10; duration = 79; initialDepth = 289.207975; finalDepth = 288.849182; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.738961 # Altitude Set: 50.738961 # Vehicle Depth:289.207975 # Seafloor Depth:-339.436068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.05; MB_Bottom_Detect_Filter_Max_Range = 121.77; MB_Bottom_Detect_Filter_Min_Depth = 38.05; MB_Bottom_Detect_Filter_Max_Depth = 65.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.532136 meters # Minimum depth: 336.157204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 286.157204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823407; longitude = -122.165875; captureRadius = 10; duration = 79; initialDepth = 286.157204; finalDepth = 289.207975; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.038193 # Altitude Set: 54.038193 # Vehicle Depth:286.157204 # Seafloor Depth:-340.195397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.53; MB_Bottom_Detect_Filter_Max_Range = 129.69; MB_Bottom_Detect_Filter_Min_Depth = 40.53; MB_Bottom_Detect_Filter_Max_Depth = 70.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.532052 meters # Minimum depth: 334.524259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 284.524259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823871; longitude = -122.165539; captureRadius = 10; duration = 79; initialDepth = 284.524259; finalDepth = 286.157204; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.038193 # Altitude Set: 54.038193 # Vehicle Depth:284.524259 # Seafloor Depth:-335.648312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.53; MB_Bottom_Detect_Filter_Max_Range = 129.69; MB_Bottom_Detect_Filter_Min_Depth = 40.53; MB_Bottom_Detect_Filter_Max_Depth = 70.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.491711 meters # Minimum depth: 335.331707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 285.331707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824334; longitude = -122.165202; captureRadius = 10; duration = 68; initialDepth = 285.331707; finalDepth = 284.524259; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.257586 # Altitude Set: 53.257586 # Vehicle Depth:285.331707 # Seafloor Depth:-338.589293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 127.82; MB_Bottom_Detect_Filter_Min_Depth = 39.94; MB_Bottom_Detect_Filter_Max_Depth = 69.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.529764 meters # Minimum depth: 341.030104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 291.030104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824735; longitude = -122.164912; captureRadius = 10; duration = 76; initialDepth = 291.030104; finalDepth = 285.331707; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.257586 # Altitude Set: 53.257586 # Vehicle Depth:291.030104 # Seafloor Depth:-343.018829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 127.82; MB_Bottom_Detect_Filter_Min_Depth = 39.94; MB_Bottom_Detect_Filter_Max_Depth = 69.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.529685 meters # Minimum depth: 345.584387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 295.584387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825183; longitude = -122.164587; captureRadius = 10; duration = 76; initialDepth = 295.584387; finalDepth = 291.030104; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.231837 # Altitude Set: 52.231837 # Vehicle Depth:295.584387 # Seafloor Depth:-347.816224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 125.36; MB_Bottom_Detect_Filter_Min_Depth = 39.17; MB_Bottom_Detect_Filter_Max_Depth = 67.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.529607 meters # Minimum depth: 349.101965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 299.101965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825632; longitude = -122.164262; captureRadius = 10; duration = 76; initialDepth = 299.101965; finalDepth = 295.584387; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.594159 # Altitude Set: 52.594159 # Vehicle Depth:299.101965 # Seafloor Depth:-351.696124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 126.23; MB_Bottom_Detect_Filter_Min_Depth = 39.45; MB_Bottom_Detect_Filter_Max_Depth = 68.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.529528 meters # Minimum depth: 346.136994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 296.136994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826080; longitude = -122.163938; captureRadius = 10; duration = 76; initialDepth = 296.136994; finalDepth = 299.101965; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.306032 # Altitude Set: 54.306032 # Vehicle Depth:296.136994 # Seafloor Depth:-350.443026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.33; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 130.33; MB_Bottom_Detect_Filter_Min_Depth = 40.73; MB_Bottom_Detect_Filter_Max_Depth = 70.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.529449 meters # Minimum depth: 338.227332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 288.227332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826528; longitude = -122.163613; captureRadius = 10; duration = 76; initialDepth = 288.227332; finalDepth = 296.136994; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.448577 # Altitude Set: 57.448577 # Vehicle Depth:288.227332 # Seafloor Depth:-345.675909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 137.88; MB_Bottom_Detect_Filter_Min_Depth = 43.09; MB_Bottom_Detect_Filter_Max_Depth = 74.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.738450 meters # Minimum depth: 330.934487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 280.934487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826976; longitude = -122.163288; captureRadius = 10; duration = 76; initialDepth = 280.934487; finalDepth = 288.227332; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.448577 # Altitude Set: 57.448577 # Vehicle Depth:280.934487 # Seafloor Depth:-337.967596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 137.88; MB_Bottom_Detect_Filter_Min_Depth = 43.09; MB_Bottom_Detect_Filter_Max_Depth = 74.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.531406 meters # Minimum depth: 325.380895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 275.380895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827425; longitude = -122.162962; captureRadius = 10; duration = 79; initialDepth = 275.380895; finalDepth = 280.934487; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.033109 # Altitude Set: 57.033109 # Vehicle Depth:275.380895 # Seafloor Depth:-330.910184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 136.88; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 74.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.531321 meters # Minimum depth: 306.602988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 256.602988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827889; longitude = -122.162626; captureRadius = 10; duration = 79; initialDepth = 256.602988; finalDepth = 275.380895; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.469991 # Altitude Set: 60 # Vehicle Depth:256.602988 # Seafloor Depth:-325.072979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.531237 meters # Minimum depth: 296.742519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 246.742519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828353; longitude = -122.162290; captureRadius = 10; duration = 79; initialDepth = 246.742519; finalDepth = 256.602988; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.469991 # Altitude Set: 60 # Vehicle Depth:246.742519 # Seafloor Depth:-306.304845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.313650 meters # Minimum depth: 287.060889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 237.060889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828816; longitude = -122.161954; captureRadius = 10; duration = 68; initialDepth = 237.060889; finalDepth = 246.742519; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.562326 # Altitude Set: 59.562326 # Vehicle Depth:237.060889 # Seafloor Depth:-295.759840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.95; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.67; MB_Bottom_Detect_Filter_Max_Range = 142.95; MB_Bottom_Detect_Filter_Min_Depth = 44.67; MB_Bottom_Detect_Filter_Max_Depth = 77.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528977 meters # Minimum depth: 277.589752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 227.589752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829216; longitude = -122.161664; captureRadius = 10; duration = 76; initialDepth = 227.589752; finalDepth = 237.060889; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.698951 # Altitude Set: 58.698951 # Vehicle Depth:227.589752 # Seafloor Depth:-284.307000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.02; MB_Bottom_Detect_Filter_Max_Range = 140.88; MB_Bottom_Detect_Filter_Min_Depth = 44.02; MB_Bottom_Detect_Filter_Max_Depth = 76.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528897 meters # Minimum depth: 270.846759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 220.846759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829664; longitude = -122.161340; captureRadius = 10; duration = 76; initialDepth = 220.846759; finalDepth = 227.589752; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.717248 # Altitude Set: 56.717248 # Vehicle Depth:220.846759 # Seafloor Depth:-276.255111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.54; MB_Bottom_Detect_Filter_Max_Range = 136.12; MB_Bottom_Detect_Filter_Min_Depth = 42.54; MB_Bottom_Detect_Filter_Max_Depth = 73.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528819 meters # Minimum depth: 260.971351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 210.971351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830112; longitude = -122.161015; captureRadius = 10; duration = 76; initialDepth = 210.971351; finalDepth = 220.846759; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.671537 # Altitude Set: 58.671537 # Vehicle Depth:210.971351 # Seafloor Depth:-269.642888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.00; MB_Bottom_Detect_Filter_Max_Range = 140.81; MB_Bottom_Detect_Filter_Min_Depth = 44.00; MB_Bottom_Detect_Filter_Max_Depth = 76.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528741 meters # Minimum depth: 252.625726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 202.625726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830560; longitude = -122.160690; captureRadius = 10; duration = 76; initialDepth = 202.625726; finalDepth = 210.971351; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.671537 # Altitude Set: 58.671537 # Vehicle Depth:202.625726 # Seafloor Depth:-260.535730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.00; MB_Bottom_Detect_Filter_Max_Range = 140.81; MB_Bottom_Detect_Filter_Min_Depth = 44.00; MB_Bottom_Detect_Filter_Max_Depth = 76.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528661 meters # Minimum depth: 243.007491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 193.007491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831008; longitude = -122.160365; captureRadius = 10; duration = 76; initialDepth = 193.007491; finalDepth = 202.625726; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.528765 # Altitude Set: 59.528765 # Vehicle Depth:193.007491 # Seafloor Depth:-252.536256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.65; MB_Bottom_Detect_Filter_Max_Range = 142.87; MB_Bottom_Detect_Filter_Min_Depth = 44.65; MB_Bottom_Detect_Filter_Max_Depth = 77.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.915014 meters # Minimum depth: 232.452811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 182.452811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831456; longitude = -122.160041; captureRadius = 10; duration = 77; initialDepth = 182.452811; finalDepth = 193.007491; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.269499 # Altitude Set: 60 # Vehicle Depth:182.452811 # Seafloor Depth:-242.722310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.530590 meters # Minimum depth: 221.524624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 171.524624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831907; longitude = -122.159714; captureRadius = 10; duration = 79; initialDepth = 171.524624; finalDepth = 182.452811; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.877941 # Altitude Set: 60 # Vehicle Depth:171.524624 # Seafloor Depth:-232.402565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.530507 meters # Minimum depth: 212.794606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 162.794606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832371; longitude = -122.159378; captureRadius = 10; duration = 79; initialDepth = 162.794606; finalDepth = 171.524624; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.877941 # Altitude Set: 60 # Vehicle Depth:162.794606 # Seafloor Depth:-221.088166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.530422 meters # Minimum depth: 204.430120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 154.430120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832835; longitude = -122.159042; captureRadius = 10; duration = 79; initialDepth = 154.430120; finalDepth = 162.794606; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.29356 # Altitude Set: 58.29356 # Vehicle Depth:154.43012 # Seafloor Depth:-212.226536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.72; MB_Bottom_Detect_Filter_Max_Range = 139.90; MB_Bottom_Detect_Filter_Min_Depth = 43.72; MB_Bottom_Detect_Filter_Max_Depth = 75.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.135594 meters # Minimum depth: 196.909190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 146.909190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833298; longitude = -122.158706; captureRadius = 10; duration = 68; initialDepth = 146.909190; finalDepth = 154.430120; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.796416 # Altitude Set: 57.796416 # Vehicle Depth:146.90919 # Seafloor Depth:-202.927288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.71; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.35; MB_Bottom_Detect_Filter_Max_Range = 138.71; MB_Bottom_Detect_Filter_Min_Depth = 43.35; MB_Bottom_Detect_Filter_Max_Depth = 75.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.528189 meters # Minimum depth: 189.057207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 139.057207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833697; longitude = -122.158417; captureRadius = 10; duration = 76; initialDepth = 139.057207; finalDepth = 146.909190; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.879765 # Altitude Set: 56.879765 # Vehicle Depth:139.057207 # Seafloor Depth:-195.936972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 136.51; MB_Bottom_Detect_Filter_Min_Depth = 42.66; MB_Bottom_Detect_Filter_Max_Depth = 73.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.083596 meters # Minimum depth: 176.511763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 126.511763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834145; longitude = -122.158092; captureRadius = 10; duration = 66; initialDepth = 126.511763; finalDepth = 139.057207; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.530435 # Altitude Set: 60 # Vehicle Depth:126.511763 # Seafloor Depth:-187.042198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.590545 meters # Minimum depth: 173.117872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 123.117872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834535; longitude = -122.157809; captureRadius = 10; duration = 67; initialDepth = 123.117872; finalDepth = 126.511763; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.530435 # Altitude Set: 60 # Vehicle Depth:123.117872 # Seafloor Depth:-176.140227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.527973 meters # Minimum depth: 168.718104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 118.718104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834929; longitude = -122.157524; captureRadius = 10; duration = 76; initialDepth = 118.718104; finalDepth = 123.117872; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.443915 # Altitude Set: 54.443915 # Vehicle Depth:118.718104 # Seafloor Depth:-173.162019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 130.67; MB_Bottom_Detect_Filter_Min_Depth = 40.83; MB_Bottom_Detect_Filter_Max_Depth = 70.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.628262 meters # Minimum depth: 159.964120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 109.964120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835377; longitude = -122.157199; captureRadius = 10; duration = 67; initialDepth = 109.964120; finalDepth = 118.718104; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.557494 # Altitude Set: 57.557494 # Vehicle Depth:109.96412 # Seafloor Depth:-167.521614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.17; MB_Bottom_Detect_Filter_Max_Range = 138.14; MB_Bottom_Detect_Filter_Min_Depth = 43.17; MB_Bottom_Detect_Filter_Max_Depth = 74.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.045500 meters # Minimum depth: 155.293041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 105.293041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835771; longitude = -122.156913; captureRadius = 10; duration = 66; initialDepth = 105.293041; finalDepth = 109.964120; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.557494 # Altitude Set: 57.557494 # Vehicle Depth:105.293041 # Seafloor Depth:-158.918430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.17; MB_Bottom_Detect_Filter_Max_Range = 138.14; MB_Bottom_Detect_Filter_Min_Depth = 43.17; MB_Bottom_Detect_Filter_Max_Depth = 74.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.527756 meters # Minimum depth: 150.552294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 100.552294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836161; longitude = -122.156631; captureRadius = 10; duration = 76; initialDepth = 100.552294; finalDepth = 105.293041; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.281401 # Altitude Set: 54.281401 # Vehicle Depth:100.552294 # Seafloor Depth:-154.833695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.28; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.527678 meters # Minimum depth: 147.019579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 97.019579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836609; longitude = -122.156306; captureRadius = 10; duration = 76; initialDepth = 97.019579; finalDepth = 100.552294; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.281401 # Altitude Set: 54.281401 # Vehicle Depth:97.019579 # Seafloor Depth:-149.788379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.28; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 57.527598 meters # Minimum depth: 144.233614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 94.233614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837057; longitude = -122.155981; captureRadius = 10; duration = 76; initialDepth = 94.233614; finalDepth = 97.019579; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.7688 # Altitude Set: 52.7688 # Vehicle Depth:94.233614 # Seafloor Depth:-146.861692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.58; MB_Bottom_Detect_Filter_Max_Range = 126.65; MB_Bottom_Detect_Filter_Min_Depth = 39.58; MB_Bottom_Detect_Filter_Max_Depth = 68.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 61.205438 meters # Minimum depth: 141.494420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 91.494420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837505; longitude = -122.155657; captureRadius = 10; duration = 81; initialDepth = 91.494420; finalDepth = 94.233614; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.628078 # Altitude Set: 52.628078 # Vehicle Depth:91.49442 # Seafloor Depth:-144.115046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.31; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 126.31; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 68.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 31.169669 meters # Minimum depth: 140.299890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 90.299890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837982; longitude = -122.155311; captureRadius = 10; duration = 41; initialDepth = 90.299890; finalDepth = 91.494420; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.620626 # Altitude Set: 52.620626 # Vehicle Depth:90.29989 # Seafloor Depth:-141.481998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 126.29; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 68.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 57.803286 meters # Minimum depth: 139.518143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 89.518143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837841; longitude = -122.155009; captureRadius = 10; duration = 77; initialDepth = 89.518143; finalDepth = 90.299890; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.182108 # Altitude Set: 51.182108 # Vehicle Depth:89.518143 # Seafloor Depth:-140.288688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.39; MB_Bottom_Detect_Filter_Max_Range = 122.84; MB_Bottom_Detect_Filter_Min_Depth = 38.39; MB_Bottom_Detect_Filter_Max_Depth = 66.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 61.087001 meters # Minimum depth: 138.379578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 88.379578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837578; longitude = -122.154449; captureRadius = 10; duration = 81; initialDepth = 88.379578; finalDepth = 89.518143; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.506869 # Altitude Set: 51.506869 # Vehicle Depth:88.379578 # Seafloor Depth:-139.886447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.63; MB_Bottom_Detect_Filter_Max_Range = 123.62; MB_Bottom_Detect_Filter_Min_Depth = 38.63; MB_Bottom_Detect_Filter_Max_Depth = 66.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 45.681426 meters # Minimum depth: 138.201801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 88.201801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837301; longitude = -122.153857; captureRadius = 10; duration = 60; initialDepth = 88.201801; finalDepth = 88.379578; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.506869 # Altitude Set: 51.506869 # Vehicle Depth:88.201801 # Seafloor Depth:-138.201801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.63; MB_Bottom_Detect_Filter_Max_Range = 123.62; MB_Bottom_Detect_Filter_Min_Depth = 38.63; MB_Bottom_Detect_Filter_Max_Depth = 66.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.167538 meters # Minimum depth: 138.722168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 88.722168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836945; longitude = -122.154115; captureRadius = 10; duration = 78; initialDepth = 88.722168; finalDepth = 88.201801; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.153192 # Altitude Set: 51.153192 # Vehicle Depth:88.722168 # Seafloor Depth:-139.875360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.77; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 122.77; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 66.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.527978 meters # Minimum depth: 140.614977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 90.614977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836484; longitude = -122.154449; captureRadius = 10; duration = 79; initialDepth = 90.614977; finalDepth = 88.722168; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.359176 # Altitude Set: 51.359176 # Vehicle Depth:90.614977 # Seafloor Depth:-141.974153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.26; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.26; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.528063 meters # Minimum depth: 142.761534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 92.761534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836021; longitude = -122.154785; captureRadius = 10; duration = 79; initialDepth = 92.761534; finalDepth = 90.614977; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.880717 # Altitude Set: 51.880717 # Vehicle Depth:92.761534 # Seafloor Depth:-144.642251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.91; MB_Bottom_Detect_Filter_Max_Range = 124.51; MB_Bottom_Detect_Filter_Min_Depth = 38.91; MB_Bottom_Detect_Filter_Max_Depth = 67.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.890226 meters # Minimum depth: 145.921616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 95.921616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835557; longitude = -122.155121; captureRadius = 10; duration = 69; initialDepth = 95.921616; finalDepth = 92.761534; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.901417 # Altitude Set: 51.901417 # Vehicle Depth:95.921616 # Seafloor Depth:-147.823033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.93; MB_Bottom_Detect_Filter_Max_Range = 124.56; MB_Bottom_Detect_Filter_Min_Depth = 38.93; MB_Bottom_Detect_Filter_Max_Depth = 67.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.528649 meters # Minimum depth: 149.193918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 99.193918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835153; longitude = -122.155414; captureRadius = 10; duration = 76; initialDepth = 99.193918; finalDepth = 95.921616; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.998544 # Altitude Set: 51.998544 # Vehicle Depth:99.193918 # Seafloor Depth:-151.192462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 124.80; MB_Bottom_Detect_Filter_Min_Depth = 39.00; MB_Bottom_Detect_Filter_Max_Depth = 67.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.528727 meters # Minimum depth: 153.767826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 103.767826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834705; longitude = -122.155739; captureRadius = 10; duration = 76; initialDepth = 103.767826; finalDepth = 99.193918; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.998544 # Altitude Set: 51.998544 # Vehicle Depth:103.767826 # Seafloor Depth:-154.522537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 124.80; MB_Bottom_Detect_Filter_Min_Depth = 39.00; MB_Bottom_Detect_Filter_Max_Depth = 67.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.528805 meters # Minimum depth: 156.672334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 106.672334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834257; longitude = -122.156063; captureRadius = 10; duration = 76; initialDepth = 106.672334; finalDepth = 103.767826; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.15692 # Altitude Set: 51.15692 # Vehicle Depth:106.672334 # Seafloor Depth:-157.829254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.37; MB_Bottom_Detect_Filter_Max_Range = 122.78; MB_Bottom_Detect_Filter_Min_Depth = 38.37; MB_Bottom_Detect_Filter_Max_Depth = 66.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.528885 meters # Minimum depth: 162.924029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 112.924029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833809; longitude = -122.156388; captureRadius = 10; duration = 76; initialDepth = 112.924029; finalDepth = 106.672334; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.781057 # Altitude Set: 53.781057 # Vehicle Depth:112.924029 # Seafloor Depth:-166.705086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.07; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.34; MB_Bottom_Detect_Filter_Max_Range = 129.07; MB_Bottom_Detect_Filter_Min_Depth = 40.34; MB_Bottom_Detect_Filter_Max_Depth = 69.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.528963 meters # Minimum depth: 168.084704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 118.084704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833361; longitude = -122.156713; captureRadius = 10; duration = 76; initialDepth = 118.084704; finalDepth = 112.924029; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.406684 # Altitude Set: 54.406684 # Vehicle Depth:118.084704 # Seafloor Depth:-172.491388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.58; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.81; MB_Bottom_Detect_Filter_Max_Range = 130.58; MB_Bottom_Detect_Filter_Min_Depth = 40.81; MB_Bottom_Detect_Filter_Max_Depth = 70.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529042 meters # Minimum depth: 175.745606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 125.745606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832913; longitude = -122.157038; captureRadius = 10; duration = 76; initialDepth = 125.745606; finalDepth = 118.084704; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.940807 # Altitude Set: 54.940807 # Vehicle Depth:125.745606 # Seafloor Depth:-180.686413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.21; MB_Bottom_Detect_Filter_Max_Range = 131.86; MB_Bottom_Detect_Filter_Min_Depth = 41.21; MB_Bottom_Detect_Filter_Max_Depth = 71.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.321318 meters # Minimum depth: 183.416708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 133.416708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832465; longitude = -122.157363; captureRadius = 10; duration = 79; initialDepth = 133.416708; finalDepth = 125.745606; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.079529 # Altitude Set: 56.079529 # Vehicle Depth:133.416708 # Seafloor Depth:-189.496237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.06; MB_Bottom_Detect_Filter_Max_Range = 134.59; MB_Bottom_Detect_Filter_Min_Depth = 42.06; MB_Bottom_Detect_Filter_Max_Depth = 72.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.528793 meters # Minimum depth: 193.489590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 143.489590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832003; longitude = -122.157697; captureRadius = 10; duration = 79; initialDepth = 143.489590; finalDepth = 133.416708; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.623829 # Altitude Set: 57.623829 # Vehicle Depth:143.48959 # Seafloor Depth:-201.113419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.22; MB_Bottom_Detect_Filter_Max_Range = 138.30; MB_Bottom_Detect_Filter_Min_Depth = 43.22; MB_Bottom_Detect_Filter_Max_Depth = 74.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.528878 meters # Minimum depth: 204.982547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 154.982547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831539; longitude = -122.158033; captureRadius = 10; duration = 79; initialDepth = 154.982547; finalDepth = 143.489590; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.623829 # Altitude Set: 57.623829 # Vehicle Depth:154.982547 # Seafloor Depth:-211.609302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.22; MB_Bottom_Detect_Filter_Max_Range = 138.30; MB_Bottom_Detect_Filter_Min_Depth = 43.22; MB_Bottom_Detect_Filter_Max_Depth = 74.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.737966 meters # Minimum depth: 213.887172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 163.887172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831075; longitude = -122.158369; captureRadius = 10; duration = 68; initialDepth = 163.887172; finalDepth = 154.982547; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.626755 # Altitude Set: 56.626755 # Vehicle Depth:163.887172 # Seafloor Depth:-220.339880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.47; MB_Bottom_Detect_Filter_Max_Range = 135.90; MB_Bottom_Detect_Filter_Min_Depth = 42.47; MB_Bottom_Detect_Filter_Max_Depth = 73.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529435 meters # Minimum depth: 224.083976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 174.083976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830672; longitude = -122.158662; captureRadius = 10; duration = 76; initialDepth = 174.083976; finalDepth = 163.887172; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.452708 # Altitude Set: 56.452708 # Vehicle Depth:174.083976 # Seafloor Depth:-229.655467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.49; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.34; MB_Bottom_Detect_Filter_Max_Range = 135.49; MB_Bottom_Detect_Filter_Min_Depth = 42.34; MB_Bottom_Detect_Filter_Max_Depth = 73.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529515 meters # Minimum depth: 234.340495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 184.340495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830224; longitude = -122.158986; captureRadius = 10; duration = 76; initialDepth = 184.340495; finalDepth = 174.083976; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.571491 # Altitude Set: 55.571491 # Vehicle Depth:184.340495 # Seafloor Depth:-237.971903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.68; MB_Bottom_Detect_Filter_Max_Range = 133.37; MB_Bottom_Detect_Filter_Min_Depth = 41.68; MB_Bottom_Detect_Filter_Max_Depth = 72.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529593 meters # Minimum depth: 243.973016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 193.973016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829776; longitude = -122.159311; captureRadius = 10; duration = 76; initialDepth = 193.973016; finalDepth = 184.340495; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.416502 # Altitude Set: 54.416502 # Vehicle Depth:193.973016 # Seafloor Depth:-248.389518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.60; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.81; MB_Bottom_Detect_Filter_Max_Range = 130.60; MB_Bottom_Detect_Filter_Min_Depth = 40.81; MB_Bottom_Detect_Filter_Max_Depth = 70.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529672 meters # Minimum depth: 256.379152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 206.379152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829328; longitude = -122.159636; captureRadius = 10; duration = 76; initialDepth = 206.379152; finalDepth = 193.973016; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.416502 # Altitude Set: 54.416502 # Vehicle Depth:206.379152 # Seafloor Depth:-260.642834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.60; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.81; MB_Bottom_Detect_Filter_Max_Range = 130.60; MB_Bottom_Detect_Filter_Min_Depth = 40.81; MB_Bottom_Detect_Filter_Max_Depth = 70.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529751 meters # Minimum depth: 264.381935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 214.381935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -122.159961; captureRadius = 10; duration = 76; initialDepth = 214.381935; finalDepth = 206.379152; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.687931 # Altitude Set: 54.687931 # Vehicle Depth:214.381935 # Seafloor Depth:-269.069866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 131.25; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 71.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.529829 meters # Minimum depth: 270.341275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 220.341275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828432; longitude = -122.160285; captureRadius = 10; duration = 76; initialDepth = 220.341275; finalDepth = 214.381935; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.123281 # Altitude Set: 57.123281 # Vehicle Depth:220.341275 # Seafloor Depth:-277.464556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.10; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.84; MB_Bottom_Detect_Filter_Max_Range = 137.10; MB_Bottom_Detect_Filter_Min_Depth = 42.84; MB_Bottom_Detect_Filter_Max_Depth = 74.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.475103 meters # Minimum depth: 280.632059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 230.632059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827984; longitude = -122.160610; captureRadius = 10; duration = 79; initialDepth = 230.632059; finalDepth = 220.341275; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.941563 # Altitude Set: 57.941563 # Vehicle Depth:230.632059 # Seafloor Depth:-288.573622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.46; MB_Bottom_Detect_Filter_Max_Range = 139.06; MB_Bottom_Detect_Filter_Min_Depth = 43.46; MB_Bottom_Detect_Filter_Max_Depth = 75.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.529609 meters # Minimum depth: 292.836223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 242.836223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827521; longitude = -122.160946; captureRadius = 10; duration = 79; initialDepth = 242.836223; finalDepth = 230.632059; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.941563 # Altitude Set: 57.941563 # Vehicle Depth:242.836223 # Seafloor Depth:-300.112280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.46; MB_Bottom_Detect_Filter_Max_Range = 139.06; MB_Bottom_Detect_Filter_Min_Depth = 43.46; MB_Bottom_Detect_Filter_Max_Depth = 75.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.529692 meters # Minimum depth: 304.410267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 254.410267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827057; longitude = -122.161282; captureRadius = 10; duration = 79; initialDepth = 254.410267; finalDepth = 242.836223; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.276057 # Altitude Set: 57.276057 # Vehicle Depth:254.410267 # Seafloor Depth:-309.757634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.96; MB_Bottom_Detect_Filter_Max_Range = 137.46; MB_Bottom_Detect_Filter_Min_Depth = 42.96; MB_Bottom_Detect_Filter_Max_Depth = 74.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.585701 meters # Minimum depth: 315.554874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 265.554874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826593; longitude = -122.161618; captureRadius = 10; duration = 68; initialDepth = 265.554874; finalDepth = 254.410267; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.698251 # Altitude Set: 60 # Vehicle Depth:265.554874 # Seafloor Depth:-327.253125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.530223 meters # Minimum depth: 332.060655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 282.060655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826192; longitude = -122.161909; captureRadius = 10; duration = 76; initialDepth = 282.060655; finalDepth = 265.554874; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.698251 # Altitude Set: 60 # Vehicle Depth:282.060655 # Seafloor Depth:-337.830126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.530302 meters # Minimum depth: 342.994449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 292.994449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825744; longitude = -122.162234; captureRadius = 10; duration = 76; initialDepth = 292.994449; finalDepth = 282.060655; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.769471 # Altitude Set: 55.769471 # Vehicle Depth:292.994449 # Seafloor Depth:-347.186556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.83; MB_Bottom_Detect_Filter_Max_Range = 133.85; MB_Bottom_Detect_Filter_Min_Depth = 41.83; MB_Bottom_Detect_Filter_Max_Depth = 72.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.530381 meters # Minimum depth: 352.058082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 302.058082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825295; longitude = -122.162559; captureRadius = 10; duration = 76; initialDepth = 302.058082; finalDepth = 292.994449; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.192107 # Altitude Set: 54.192107 # Vehicle Depth:302.058082 # Seafloor Depth:-354.262452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.64; MB_Bottom_Detect_Filter_Max_Range = 130.06; MB_Bottom_Detect_Filter_Min_Depth = 40.64; MB_Bottom_Detect_Filter_Max_Depth = 70.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.530459 meters # Minimum depth: 355.796868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.796868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824847; longitude = -122.162883; captureRadius = 10; duration = 76; initialDepth = 305.796868; finalDepth = 302.058082; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.781534 # Altitude Set: 52.781534 # Vehicle Depth:305.796868 # Seafloor Depth:-358.578402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.59; MB_Bottom_Detect_Filter_Max_Range = 126.68; MB_Bottom_Detect_Filter_Min_Depth = 39.59; MB_Bottom_Detect_Filter_Max_Depth = 68.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.530538 meters # Minimum depth: 361.554758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 311.554758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824399; longitude = -122.163208; captureRadius = 10; duration = 76; initialDepth = 311.554758; finalDepth = 305.796868; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.428907 # Altitude Set: 53.428907 # Vehicle Depth:311.554758 # Seafloor Depth:-364.983665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.07; MB_Bottom_Detect_Filter_Max_Range = 128.23; MB_Bottom_Detect_Filter_Min_Depth = 40.07; MB_Bottom_Detect_Filter_Max_Depth = 69.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.629170 meters # Minimum depth: 355.850240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.850240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823951; longitude = -122.163533; captureRadius = 10; duration = 76; initialDepth = 305.850240; finalDepth = 311.554758; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.592546 # Altitude Set: 56.592546 # Vehicle Depth:305.85024 # Seafloor Depth:-362.442786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.44; MB_Bottom_Detect_Filter_Max_Range = 135.82; MB_Bottom_Detect_Filter_Min_Depth = 42.44; MB_Bottom_Detect_Filter_Max_Depth = 73.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.530340 meters # Minimum depth: 352.741886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 302.741886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823502; longitude = -122.163858; captureRadius = 10; duration = 79; initialDepth = 302.741886; finalDepth = 305.850240; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.592546 # Altitude Set: 56.592546 # Vehicle Depth:302.741886 # Seafloor Depth:-355.870191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.82; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.44; MB_Bottom_Detect_Filter_Max_Range = 135.82; MB_Bottom_Detect_Filter_Min_Depth = 42.44; MB_Bottom_Detect_Filter_Max_Depth = 73.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.530423 meters # Minimum depth: 352.741886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 302.741886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823039; longitude = -122.164194; captureRadius = 10; duration = 79; initialDepth = 302.741886; finalDepth = 302.741886; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.558285 # Altitude Set: 53.558285 # Vehicle Depth:302.741886 # Seafloor Depth:-356.300171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.17; MB_Bottom_Detect_Filter_Max_Range = 128.54; MB_Bottom_Detect_Filter_Min_Depth = 40.17; MB_Bottom_Detect_Filter_Max_Depth = 69.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.530508 meters # Minimum depth: 352.865757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 302.865757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822575; longitude = -122.164530; captureRadius = 10; duration = 79; initialDepth = 302.865757; finalDepth = 302.741886; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.558285 # Altitude Set: 53.558285 # Vehicle Depth:302.865757 # Seafloor Depth:-356.305194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.17; MB_Bottom_Detect_Filter_Max_Range = 128.54; MB_Bottom_Detect_Filter_Min_Depth = 40.17; MB_Bottom_Detect_Filter_Max_Depth = 69.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.433432 meters # Minimum depth: 356.745386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 306.745386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822112; longitude = -122.164866; captureRadius = 10; duration = 68; initialDepth = 306.745386; finalDepth = 302.865757; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.326428 # Altitude Set: 55.326428 # Vehicle Depth:306.745386 # Seafloor Depth:-362.071814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.49; MB_Bottom_Detect_Filter_Max_Range = 132.78; MB_Bottom_Detect_Filter_Min_Depth = 41.49; MB_Bottom_Detect_Filter_Max_Depth = 71.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531011 meters # Minimum depth: 355.473540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.473540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821711; longitude = -122.165157; captureRadius = 10; duration = 76; initialDepth = 305.473540; finalDepth = 306.745386; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.326428 # Altitude Set: 55.326428 # Vehicle Depth:305.47354 # Seafloor Depth:-357.472081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.49; MB_Bottom_Detect_Filter_Max_Range = 132.78; MB_Bottom_Detect_Filter_Min_Depth = 41.49; MB_Bottom_Detect_Filter_Max_Depth = 71.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531089 meters # Minimum depth: 354.387452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.387452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821263; longitude = -122.165482; captureRadius = 10; duration = 76; initialDepth = 304.387452; finalDepth = 305.473540; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.998541 # Altitude Set: 51.998541 # Vehicle Depth:304.387452 # Seafloor Depth:-355.538346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.80; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 124.80; MB_Bottom_Detect_Filter_Min_Depth = 39.00; MB_Bottom_Detect_Filter_Max_Depth = 67.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531168 meters # Minimum depth: 354.132202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.132202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820815; longitude = -122.165806; captureRadius = 10; duration = 76; initialDepth = 304.132202; finalDepth = 304.387452; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.150894 # Altitude Set: 51.150894 # Vehicle Depth:304.132202 # Seafloor Depth:-354.132202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.76; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 122.76; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 66.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531247 meters # Minimum depth: 354.987332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.987332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820367; longitude = -122.166131; captureRadius = 10; duration = 76; initialDepth = 304.987332; finalDepth = 304.132202; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.615588 # Altitude Set: 51.615588 # Vehicle Depth:304.987332 # Seafloor Depth:-356.602920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.88; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531326 meters # Minimum depth: 354.873760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 304.873760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819919; longitude = -122.166456; captureRadius = 10; duration = 76; initialDepth = 304.873760; finalDepth = 304.987332; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.615588 # Altitude Set: 51.615588 # Vehicle Depth:304.87376 # Seafloor Depth:-354.873760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 123.88; MB_Bottom_Detect_Filter_Min_Depth = 38.71; MB_Bottom_Detect_Filter_Max_Depth = 67.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.782936 meters # Minimum depth: 355.704441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 305.704441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819471; longitude = -122.166781; captureRadius = 10; duration = 77; initialDepth = 305.704441; finalDepth = 304.873760; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.108709 # Altitude Set: 52.108709 # Vehicle Depth:305.704441 # Seafloor Depth:-357.813150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.06; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.531154 meters # Minimum depth: 359.050717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 309.050717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819021; longitude = -122.167107; captureRadius = 10; duration = 79; initialDepth = 309.050717; finalDepth = 305.704441; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.181108 # Altitude Set: 54.181108 # Vehicle Depth:309.050717 # Seafloor Depth:-363.231825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.64; MB_Bottom_Detect_Filter_Max_Range = 130.03; MB_Bottom_Detect_Filter_Min_Depth = 40.64; MB_Bottom_Detect_Filter_Max_Depth = 70.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.531239 meters # Minimum depth: 365.243873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 315.243873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818557; longitude = -122.167443; captureRadius = 10; duration = 79; initialDepth = 315.243873; finalDepth = 309.050717; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.181108 # Altitude Set: 54.181108 # Vehicle Depth:315.243873 # Seafloor Depth:-366.942660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.64; MB_Bottom_Detect_Filter_Max_Range = 130.03; MB_Bottom_Detect_Filter_Min_Depth = 40.64; MB_Bottom_Detect_Filter_Max_Depth = 70.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.531323 meters # Minimum depth: 367.988988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 317.988988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818093; longitude = -122.167779; captureRadius = 10; duration = 79; initialDepth = 317.988988; finalDepth = 315.243873; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.698787 # Altitude Set: 51.698787 # Vehicle Depth:317.988988 # Seafloor Depth:-369.324569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 124.08; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 67.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.281159 meters # Minimum depth: 369.783788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 319.783788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817630; longitude = -122.168115; captureRadius = 10; duration = 68; initialDepth = 319.783788; finalDepth = 317.988988; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.50068 # Altitude Set: 52.50068 # Vehicle Depth:319.783788 # Seafloor Depth:-372.284468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 126.00; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 68.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531798 meters # Minimum depth: 373.182672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.182672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817230; longitude = -122.168404; captureRadius = 10; duration = 76; initialDepth = 323.182672; finalDepth = 319.783788; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.50068 # Altitude Set: 52.50068 # Vehicle Depth:323.182672 # Seafloor Depth:-373.595445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 126.00; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 68.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531877 meters # Minimum depth: 375.022117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 325.022117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816782; longitude = -122.168729; captureRadius = 10; duration = 76; initialDepth = 325.022117; finalDepth = 323.182672; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.967432 # Altitude Set: 51.967432 # Vehicle Depth:325.022117 # Seafloor Depth:-376.989549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 124.72; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 67.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.531956 meters # Minimum depth: 376.786650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 326.786650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816334; longitude = -122.169054; captureRadius = 10; duration = 76; initialDepth = 326.786650; finalDepth = 325.022117; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.967432 # Altitude Set: 51.967432 # Vehicle Depth:326.78665 # Seafloor Depth:-377.525939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 124.72; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 67.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532035 meters # Minimum depth: 376.817014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 326.817014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815886; longitude = -122.169379; captureRadius = 10; duration = 76; initialDepth = 326.817014; finalDepth = 326.786650; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.793143 # Altitude Set: 51.793143 # Vehicle Depth:326.817014 # Seafloor Depth:-378.610157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 124.30; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 67.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532113 meters # Minimum depth: 377.037666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.037666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815438; longitude = -122.169703; captureRadius = 10; duration = 76; initialDepth = 327.037666; finalDepth = 326.817014; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.170924 # Altitude Set: 53.170924 # Vehicle Depth:327.037666 # Seafloor Depth:-380.208590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.88; MB_Bottom_Detect_Filter_Max_Range = 127.61; MB_Bottom_Detect_Filter_Min_Depth = 39.88; MB_Bottom_Detect_Filter_Max_Depth = 69.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.936706 meters # Minimum depth: 373.602226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.602226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814990; longitude = -122.170028; captureRadius = 10; duration = 77; initialDepth = 323.602226; finalDepth = 327.037666; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.865742 # Altitude Set: 55.865742 # Vehicle Depth:323.602226 # Seafloor Depth:-379.467968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 134.08; MB_Bottom_Detect_Filter_Min_Depth = 41.90; MB_Bottom_Detect_Filter_Max_Depth = 72.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.531970 meters # Minimum depth: 373.069871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.069871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814539; longitude = -122.170355; captureRadius = 10; duration = 79; initialDepth = 323.069871; finalDepth = 323.602226; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.865742 # Altitude Set: 55.865742 # Vehicle Depth:323.069871 # Seafloor Depth:-373.603716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 134.08; MB_Bottom_Detect_Filter_Min_Depth = 41.90; MB_Bottom_Detect_Filter_Max_Depth = 72.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.532054 meters # Minimum depth: 374.776989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 324.776989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814075; longitude = -122.170691; captureRadius = 10; duration = 79; initialDepth = 324.776989; finalDepth = 323.069871; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.60531 # Altitude Set: 52.60531 # Vehicle Depth:324.776989 # Seafloor Depth:-377.382299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 126.25; MB_Bottom_Detect_Filter_Min_Depth = 39.45; MB_Bottom_Detect_Filter_Max_Depth = 68.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.532138 meters # Minimum depth: 377.238000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.238000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813611; longitude = -122.171027; captureRadius = 10; duration = 79; initialDepth = 327.238000; finalDepth = 324.776989; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.60531 # Altitude Set: 52.60531 # Vehicle Depth:327.238 # Seafloor Depth:-378.103871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 126.25; MB_Bottom_Detect_Filter_Min_Depth = 39.45; MB_Bottom_Detect_Filter_Max_Depth = 68.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.128881 meters # Minimum depth: 379.584152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.584152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813148; longitude = -122.171363; captureRadius = 10; duration = 68; initialDepth = 329.584152; finalDepth = 327.238000; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.601762 # Altitude Set: 51.601762 # Vehicle Depth:329.584152 # Seafloor Depth:-381.185914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.70; MB_Bottom_Detect_Filter_Max_Range = 123.84; MB_Bottom_Detect_Filter_Min_Depth = 38.70; MB_Bottom_Detect_Filter_Max_Depth = 67.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532586 meters # Minimum depth: 382.585439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 332.585439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812750; longitude = -122.171652; captureRadius = 10; duration = 76; initialDepth = 332.585439; finalDepth = 329.584152; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.601762 # Altitude Set: 51.601762 # Vehicle Depth:332.585439 # Seafloor Depth:-384.121321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.70; MB_Bottom_Detect_Filter_Max_Range = 123.84; MB_Bottom_Detect_Filter_Min_Depth = 38.70; MB_Bottom_Detect_Filter_Max_Depth = 67.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532665 meters # Minimum depth: 385.405584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.405584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812302; longitude = -122.171977; captureRadius = 10; duration = 76; initialDepth = 335.405584; finalDepth = 332.585439; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.335774 # Altitude Set: 52.335774 # Vehicle Depth:335.405584 # Seafloor Depth:-387.741358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 125.61; MB_Bottom_Detect_Filter_Min_Depth = 39.25; MB_Bottom_Detect_Filter_Max_Depth = 68.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532744 meters # Minimum depth: 389.355091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.355091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811853; longitude = -122.172302; captureRadius = 10; duration = 76; initialDepth = 339.355091; finalDepth = 335.405584; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.335774 # Altitude Set: 52.335774 # Vehicle Depth:339.355091 # Seafloor Depth:-391.007479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 125.61; MB_Bottom_Detect_Filter_Min_Depth = 39.25; MB_Bottom_Detect_Filter_Max_Depth = 68.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532822 meters # Minimum depth: 390.882718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 340.882718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811405; longitude = -122.172626; captureRadius = 10; duration = 76; initialDepth = 340.882718; finalDepth = 339.355091; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.652388 # Altitude Set: 51.652388 # Vehicle Depth:340.882718 # Seafloor Depth:-391.431590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 123.97; MB_Bottom_Detect_Filter_Min_Depth = 38.74; MB_Bottom_Detect_Filter_Max_Depth = 67.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.532902 meters # Minimum depth: 389.566752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.566752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810957; longitude = -122.172951; captureRadius = 10; duration = 76; initialDepth = 339.566752; finalDepth = 340.882718; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.171591 # Altitude Set: 51.171591 # Vehicle Depth:339.566752 # Seafloor Depth:-390.738343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 122.81; MB_Bottom_Detect_Filter_Min_Depth = 38.38; MB_Bottom_Detect_Filter_Max_Depth = 66.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.090479 meters # Minimum depth: 389.566752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.566752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810509; longitude = -122.173276; captureRadius = 10; duration = 77; initialDepth = 339.566752; finalDepth = 339.566752; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.744293 # Altitude Set: 51.744293 # Vehicle Depth:339.566752 # Seafloor Depth:-391.311045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 124.19; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 67.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.532785 meters # Minimum depth: 393.468879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 343.468879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810057; longitude = -122.173604; captureRadius = 10; duration = 79; initialDepth = 343.468879; finalDepth = 339.566752; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.54777 # Altitude Set: 54.54777 # Vehicle Depth:343.468879 # Seafloor Depth:-398.016649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.91; MB_Bottom_Detect_Filter_Max_Range = 130.91; MB_Bottom_Detect_Filter_Min_Depth = 40.91; MB_Bottom_Detect_Filter_Max_Depth = 70.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.532870 meters # Minimum depth: 399.165954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 349.165954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809593; longitude = -122.173940; captureRadius = 10; duration = 79; initialDepth = 349.165954; finalDepth = 343.468879; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.54777 # Altitude Set: 54.54777 # Vehicle Depth:349.165954 # Seafloor Depth:-401.572553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.91; MB_Bottom_Detect_Filter_Max_Range = 130.91; MB_Bottom_Detect_Filter_Min_Depth = 40.91; MB_Bottom_Detect_Filter_Max_Depth = 70.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.532954 meters # Minimum depth: 397.461785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 347.461785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809130; longitude = -122.174276; captureRadius = 10; duration = 79; initialDepth = 347.461785; finalDepth = 349.165954; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.406599 # Altitude Set: 52.406599 # Vehicle Depth:347.461785 # Seafloor Depth:-399.569616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.78; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 125.78; MB_Bottom_Detect_Filter_Min_Depth = 39.30; MB_Bottom_Detect_Filter_Max_Depth = 68.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.976599 meters # Minimum depth: 397.461785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 347.461785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808666; longitude = -122.174612; captureRadius = 10; duration = 67; initialDepth = 347.461785; finalDepth = 347.461785; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.107831 # Altitude Set: 52.107831 # Vehicle Depth:347.461785 # Seafloor Depth:-399.201909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.06; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 125.06; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 67.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.533374 meters # Minimum depth: 400.349253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.349253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808269; longitude = -122.174900; captureRadius = 10; duration = 76; initialDepth = 350.349253; finalDepth = 347.461785; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.740124 # Altitude Set: 51.740124 # Vehicle Depth:350.349253 # Seafloor Depth:-400.582524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 124.18; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 67.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.533453 meters # Minimum depth: 400.548638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 350.548638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807821; longitude = -122.175224; captureRadius = 10; duration = 76; initialDepth = 350.548638; finalDepth = 350.349253; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.096944 # Altitude Set: 52.096944 # Vehicle Depth:350.548638 # Seafloor Depth:-402.645582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.03; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.533531 meters # Minimum depth: 402.928772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 352.928772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807373; longitude = -122.175549; captureRadius = 10; duration = 76; initialDepth = 352.928772; finalDepth = 350.548638; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.096944 # Altitude Set: 52.096944 # Vehicle Depth:352.928772 # Seafloor Depth:-403.535935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.03; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.03; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.533610 meters # Minimum depth: 403.799611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 353.799611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806925; longitude = -122.175874; captureRadius = 10; duration = 76; initialDepth = 353.799611; finalDepth = 352.928772; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.538591 # Altitude Set: 52.538591 # Vehicle Depth:353.799611 # Seafloor Depth:-406.338202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 39.40; MB_Bottom_Detect_Filter_Max_Depth = 68.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 57.533689 meters # Minimum depth: 407.213802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 357.213802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806477; longitude = -122.176199; captureRadius = 10; duration = 76; initialDepth = 357.213802; finalDepth = 353.799611; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.538591 # Altitude Set: 52.538591 # Vehicle Depth:357.213802 # Seafloor Depth:-408.578897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 39.40; MB_Bottom_Detect_Filter_Max_Depth = 68.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.244258 meters # Minimum depth: 408.038772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 358.038772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806029; longitude = -122.176523; captureRadius = 10; duration = 77; initialDepth = 358.038772; finalDepth = 357.213802; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.365095 # Altitude Set: 51.365095 # Vehicle Depth:358.038772 # Seafloor Depth:-408.349759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.28; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.28; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.823357 meters # Minimum depth: 411.604299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 361.604299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805575; longitude = -122.176852; captureRadius = 10; duration = 75; initialDepth = 361.604299; finalDepth = 358.038772; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.700729 # Altitude Set: 53.700729 # Vehicle Depth:361.604299 # Seafloor Depth:-415.305028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.28; MB_Bottom_Detect_Filter_Max_Range = 128.88; MB_Bottom_Detect_Filter_Min_Depth = 40.28; MB_Bottom_Detect_Filter_Max_Depth = 69.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.140631 meters # Minimum depth: 415.689115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 365.689115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805132; longitude = -122.177173; captureRadius = 10; duration = 66; initialDepth = 365.689115; finalDepth = 361.604299; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.700729 # Altitude Set: 53.700729 # Vehicle Depth:365.689115 # Seafloor Depth:-415.689115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.28; MB_Bottom_Detect_Filter_Max_Range = 128.88; MB_Bottom_Detect_Filter_Min_Depth = 40.28; MB_Bottom_Detect_Filter_Max_Depth = 69.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 39.210955 meters # Minimum depth: 415.689115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 365.689115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804742; longitude = -122.177456; captureRadius = 10; duration = 52; initialDepth = 365.689115; finalDepth = 365.689115; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.755259 # Altitude Set: 51.755259 # Vehicle Depth:365.689115 # Seafloor Depth:-417.444374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.21; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.831768 meters # Minimum depth: 417.444374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 367.444374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804564; longitude = -122.177076; captureRadius = 10; duration = 77; initialDepth = 367.444374; finalDepth = 365.689115; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.925399 # Altitude Set: 51.925399 # Vehicle Depth:367.444374 # Seafloor Depth:-419.369773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.94; MB_Bottom_Detect_Filter_Max_Range = 124.62; MB_Bottom_Detect_Filter_Min_Depth = 38.94; MB_Bottom_Detect_Filter_Max_Depth = 67.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.987865 meters # Minimum depth: 418.357781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 368.357781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804302; longitude = -122.176516; captureRadius = 10; duration = 70; initialDepth = 368.357781; finalDepth = 367.444374; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.013732 # Altitude Set: 56.013732 # Vehicle Depth:368.357781 # Seafloor Depth:-424.371513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.01; MB_Bottom_Detect_Filter_Max_Range = 134.43; MB_Bottom_Detect_Filter_Min_Depth = 42.01; MB_Bottom_Detect_Filter_Max_Depth = 72.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 28.322067 meters # Minimum depth: 423.138214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 373.138214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804061; longitude = -122.176003; captureRadius = 10; duration = 37; initialDepth = 373.138214; finalDepth = 368.357781; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.457207 # Altitude Set: 60 # Vehicle Depth:373.138214 # Seafloor Depth:-441.595421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.569659 meters # Minimum depth: 433.150304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 383.150304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804282; longitude = -122.175844; captureRadius = 10; duration = 68; initialDepth = 383.150304; finalDepth = 373.138214; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.457207 # Altitude Set: 60 # Vehicle Depth:383.150304 # Seafloor Depth:-445.657536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419754 meters # Minimum depth: 445.231368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 395.231368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804684; longitude = -122.175555; captureRadius = 10; duration = 76; initialDepth = 395.231368; finalDepth = 383.150304; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.507232 # Altitude Set: 60 # Vehicle Depth:395.231368 # Seafloor Depth:-448.395588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419677 meters # Minimum depth: 445.012832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 395.012832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805132; longitude = -122.175232; captureRadius = 10; duration = 76; initialDepth = 395.012832; finalDepth = 395.231368; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.16422 # Altitude Set: 53.16422 # Vehicle Depth:395.012832 # Seafloor Depth:-447.369117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.87; MB_Bottom_Detect_Filter_Max_Range = 127.59; MB_Bottom_Detect_Filter_Min_Depth = 39.87; MB_Bottom_Detect_Filter_Max_Depth = 69.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419599 meters # Minimum depth: 440.152106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 390.152106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805581; longitude = -122.174910; captureRadius = 10; duration = 76; initialDepth = 390.152106; finalDepth = 395.012832; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.177111 # Altitude Set: 53.177111 # Vehicle Depth:390.152106 # Seafloor Depth:-443.329217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.63; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.88; MB_Bottom_Detect_Filter_Max_Range = 127.63; MB_Bottom_Detect_Filter_Min_Depth = 39.88; MB_Bottom_Detect_Filter_Max_Depth = 69.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419522 meters # Minimum depth: 434.666520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 384.666520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806029; longitude = -122.174588; captureRadius = 10; duration = 76; initialDepth = 384.666520; finalDepth = 390.152106; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.867324 # Altitude Set: 54.867324 # Vehicle Depth:384.66652 # Seafloor Depth:-439.533844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.15; MB_Bottom_Detect_Filter_Max_Range = 131.68; MB_Bottom_Detect_Filter_Min_Depth = 41.15; MB_Bottom_Detect_Filter_Max_Depth = 71.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.103113 meters # Minimum depth: 428.553525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 378.553525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806477; longitude = -122.174266; captureRadius = 10; duration = 77; initialDepth = 378.553525; finalDepth = 384.666520; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.884229 # Altitude Set: 55.884229 # Vehicle Depth:378.553525 # Seafloor Depth:-434.437754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.91; MB_Bottom_Detect_Filter_Max_Range = 134.12; MB_Bottom_Detect_Filter_Min_Depth = 41.91; MB_Bottom_Detect_Filter_Max_Depth = 72.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.885246 meters # Minimum depth: 427.085579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 377.085579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806930; longitude = -122.173940; captureRadius = 10; duration = 79; initialDepth = 377.085579; finalDepth = 378.553525; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.884229 # Altitude Set: 55.884229 # Vehicle Depth:377.085579 # Seafloor Depth:-428.377114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.12; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.91; MB_Bottom_Detect_Filter_Max_Range = 134.12; MB_Bottom_Detect_Filter_Min_Depth = 41.91; MB_Bottom_Detect_Filter_Max_Depth = 72.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.885162 meters # Minimum depth: 420.447183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 370.447183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807397; longitude = -122.173604; captureRadius = 10; duration = 79; initialDepth = 370.447183; finalDepth = 377.085579; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.726231 # Altitude Set: 56.726231 # Vehicle Depth:370.447183 # Seafloor Depth:-427.173414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.54; MB_Bottom_Detect_Filter_Max_Range = 136.14; MB_Bottom_Detect_Filter_Min_Depth = 42.54; MB_Bottom_Detect_Filter_Max_Depth = 73.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.803788 meters # Minimum depth: 416.284783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 366.284783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807865; longitude = -122.173268; captureRadius = 10; duration = 69; initialDepth = 366.284783; finalDepth = 370.447183; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.726231 # Altitude Set: 56.726231 # Vehicle Depth:366.284783 # Seafloor Depth:-420.234038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.14; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.54; MB_Bottom_Detect_Filter_Max_Range = 136.14; MB_Bottom_Detect_Filter_Min_Depth = 42.54; MB_Bottom_Detect_Filter_Max_Depth = 73.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419133 meters # Minimum depth: 414.896485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 364.896485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808269; longitude = -122.172977; captureRadius = 10; duration = 76; initialDepth = 364.896485; finalDepth = 366.284783; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.949255 # Altitude Set: 53.949255 # Vehicle Depth:364.896485 # Seafloor Depth:-415.138120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.46; MB_Bottom_Detect_Filter_Max_Range = 129.48; MB_Bottom_Detect_Filter_Min_Depth = 40.46; MB_Bottom_Detect_Filter_Max_Depth = 70.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.419056 meters # Minimum depth: 412.175499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 362.175499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808717; longitude = -122.172655; captureRadius = 10; duration = 76; initialDepth = 362.175499; finalDepth = 364.896485; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.983258 # Altitude Set: 52.983258 # Vehicle Depth:362.175499 # Seafloor Depth:-415.158757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 127.16; MB_Bottom_Detect_Filter_Min_Depth = 39.74; MB_Bottom_Detect_Filter_Max_Depth = 68.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418978 meters # Minimum depth: 411.400363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 361.400363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809165; longitude = -122.172333; captureRadius = 10; duration = 76; initialDepth = 361.400363; finalDepth = 362.175499; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.983258 # Altitude Set: 52.983258 # Vehicle Depth:361.400363 # Seafloor Depth:-412.068970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 127.16; MB_Bottom_Detect_Filter_Min_Depth = 39.74; MB_Bottom_Detect_Filter_Max_Depth = 68.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418900 meters # Minimum depth: 409.162721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 359.162721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809613; longitude = -122.172010; captureRadius = 10; duration = 76; initialDepth = 359.162721; finalDepth = 361.400363; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.779671 # Altitude Set: 52.779671 # Vehicle Depth:359.162721 # Seafloor Depth:-411.942392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.67; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.58; MB_Bottom_Detect_Filter_Max_Range = 126.67; MB_Bottom_Detect_Filter_Min_Depth = 39.58; MB_Bottom_Detect_Filter_Max_Depth = 68.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.867801 meters # Minimum depth: 405.623245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 355.623245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810061; longitude = -122.171688; captureRadius = 10; duration = 77; initialDepth = 355.623245; finalDepth = 359.162721; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.527749 # Altitude Set: 53.527749 # Vehicle Depth:355.623245 # Seafloor Depth:-409.150994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 128.47; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 69.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.884599 meters # Minimum depth: 402.955345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 352.955345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810513; longitude = -122.171363; captureRadius = 10; duration = 79; initialDepth = 352.955345; finalDepth = 355.623245; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.527749 # Altitude Set: 53.527749 # Vehicle Depth:352.955345 # Seafloor Depth:-405.608765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 128.47; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 69.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.884514 meters # Minimum depth: 402.355755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 352.355755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810980; longitude = -122.171027; captureRadius = 10; duration = 79; initialDepth = 352.355755; finalDepth = 352.955345; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.65342 # Altitude Set: 52.65342 # Vehicle Depth:352.355755 # Seafloor Depth:-402.779918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 126.37; MB_Bottom_Detect_Filter_Min_Depth = 39.49; MB_Bottom_Detect_Filter_Max_Depth = 68.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.037911 meters # Minimum depth: 399.629903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 349.629903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811447; longitude = -122.170691; captureRadius = 10; duration = 69; initialDepth = 349.629903; finalDepth = 352.355755; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.773328 # Altitude Set: 52.773328 # Vehicle Depth:349.629903 # Seafloor Depth:-402.403231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.58; MB_Bottom_Detect_Filter_Max_Range = 126.66; MB_Bottom_Detect_Filter_Min_Depth = 39.58; MB_Bottom_Detect_Filter_Max_Depth = 68.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418513 meters # Minimum depth: 399.629903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 349.629903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811853; longitude = -122.170399; captureRadius = 10; duration = 76; initialDepth = 349.629903; finalDepth = 349.629903; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.773328 # Altitude Set: 52.773328 # Vehicle Depth:349.629903 # Seafloor Depth:-400.817832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.66; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.58; MB_Bottom_Detect_Filter_Max_Range = 126.66; MB_Bottom_Detect_Filter_Min_Depth = 39.58; MB_Bottom_Detect_Filter_Max_Depth = 68.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.235202 meters # Minimum depth: 398.946656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 348.946656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812302; longitude = -122.170077; captureRadius = 10; duration = 66; initialDepth = 348.946656; finalDepth = 349.629903; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.535835 # Altitude Set: 51.535835 # Vehicle Depth:348.946656 # Seafloor Depth:-400.482491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 123.69; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 67.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.247007 meters # Minimum depth: 397.641229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 347.641229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812694; longitude = -122.169795; captureRadius = 10; duration = 66; initialDepth = 347.641229; finalDepth = 348.946656; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.535835 # Altitude Set: 51.535835 # Vehicle Depth:347.641229 # Seafloor Depth:-398.639383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.69; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 123.69; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 67.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418299 meters # Minimum depth: 395.135791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 345.135791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -122.169513; captureRadius = 10; duration = 76; initialDepth = 345.135791; finalDepth = 347.641229; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.464148 # Altitude Set: 51.464148 # Vehicle Depth:345.135791 # Seafloor Depth:-396.599939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.51; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 123.51; MB_Bottom_Detect_Filter_Min_Depth = 38.60; MB_Bottom_Detect_Filter_Max_Depth = 66.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418221 meters # Minimum depth: 392.710561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 342.710561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813534; longitude = -122.169191; captureRadius = 10; duration = 76; initialDepth = 342.710561; finalDepth = 345.135791; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.855059 # Altitude Set: 51.855059 # Vehicle Depth:342.710561 # Seafloor Depth:-394.565620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 124.45; MB_Bottom_Detect_Filter_Min_Depth = 38.89; MB_Bottom_Detect_Filter_Max_Depth = 67.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418144 meters # Minimum depth: 391.119154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 341.119154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813982; longitude = -122.168869; captureRadius = 10; duration = 76; initialDepth = 341.119154; finalDepth = 342.710561; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.855059 # Altitude Set: 51.855059 # Vehicle Depth:341.119154 # Seafloor Depth:-392.531095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.45; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 124.45; MB_Bottom_Detect_Filter_Min_Depth = 38.89; MB_Bottom_Detect_Filter_Max_Depth = 67.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.418065 meters # Minimum depth: 389.373491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 339.373491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814430; longitude = -122.168547; captureRadius = 10; duration = 76; initialDepth = 339.373491; finalDepth = 341.119154; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.381253 # Altitude Set: 52.381253 # Vehicle Depth:339.373491 # Seafloor Depth:-391.754744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 125.72; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 68.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.422975 meters # Minimum depth: 388.982883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 338.982883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814878; longitude = -122.168224; captureRadius = 10; duration = 79; initialDepth = 338.982883; finalDepth = 339.373491; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.381253 # Altitude Set: 52.381253 # Vehicle Depth:338.982883 # Seafloor Depth:-389.368172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.72; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 125.72; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 68.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.883726 meters # Minimum depth: 387.703028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 337.703028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815342; longitude = -122.167891; captureRadius = 10; duration = 79; initialDepth = 337.703028; finalDepth = 338.982883; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.288321 # Altitude Set: 51.288321 # Vehicle Depth:337.703028 # Seafloor Depth:-388.991349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.47; MB_Bottom_Detect_Filter_Max_Range = 123.09; MB_Bottom_Detect_Filter_Min_Depth = 38.47; MB_Bottom_Detect_Filter_Max_Depth = 66.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.883642 meters # Minimum depth: 386.291159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 336.291159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815809; longitude = -122.167555; captureRadius = 10; duration = 79; initialDepth = 336.291159; finalDepth = 337.703028; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.324211 # Altitude Set: 51.324211 # Vehicle Depth:336.291159 # Seafloor Depth:-387.615370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 123.18; MB_Bottom_Detect_Filter_Min_Depth = 38.49; MB_Bottom_Detect_Filter_Max_Depth = 66.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.481145 meters # Minimum depth: 385.980438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 335.980438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816276; longitude = -122.167219; captureRadius = 10; duration = 67; initialDepth = 335.980438; finalDepth = 336.291159; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.324211 # Altitude Set: 51.324211 # Vehicle Depth:335.980438 # Seafloor Depth:-386.458449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 123.18; MB_Bottom_Detect_Filter_Min_Depth = 38.49; MB_Bottom_Detect_Filter_Max_Depth = 66.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.417677 meters # Minimum depth: 383.459052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 333.459052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816670; longitude = -122.166936; captureRadius = 10; duration = 76; initialDepth = 333.459052; finalDepth = 335.980438; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.159595 # Altitude Set: 52.159595 # Vehicle Depth:333.459052 # Seafloor Depth:-385.618647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 125.18; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 67.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.417601 meters # Minimum depth: 379.628164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 329.628164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817118; longitude = -122.166613; captureRadius = 10; duration = 76; initialDepth = 329.628164; finalDepth = 333.459052; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.4262869999999 # Altitude Set: 54.4262869999999 # Vehicle Depth:329.628164 # Seafloor Depth:-384.054451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.82; MB_Bottom_Detect_Filter_Max_Range = 130.62; MB_Bottom_Detect_Filter_Min_Depth = 40.82; MB_Bottom_Detect_Filter_Max_Depth = 70.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.417522 meters # Minimum depth: 376.051146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 326.051146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817566; longitude = -122.166291; captureRadius = 10; duration = 76; initialDepth = 326.051146; finalDepth = 329.628164; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.4262869999999 # Altitude Set: 54.4262869999999 # Vehicle Depth:326.051146 # Seafloor Depth:-379.079981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.62; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.82; MB_Bottom_Detect_Filter_Max_Range = 130.62; MB_Bottom_Detect_Filter_Min_Depth = 40.82; MB_Bottom_Detect_Filter_Max_Depth = 70.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.417445 meters # Minimum depth: 373.155129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.155129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818014; longitude = -122.165969; captureRadius = 10; duration = 76; initialDepth = 323.155129; finalDepth = 326.051146; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.028835 # Altitude Set: 53.028835 # Vehicle Depth:323.155129 # Seafloor Depth:-375.815965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 127.27; MB_Bottom_Detect_Filter_Min_Depth = 39.77; MB_Bottom_Detect_Filter_Max_Depth = 68.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.187653 meters # Minimum depth: 371.755770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 321.755770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818462; longitude = -122.165647; captureRadius = 10; duration = 78; initialDepth = 321.755770; finalDepth = 323.155129; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.660836 # Altitude Set: 52.660836 # Vehicle Depth:321.75577 # Seafloor Depth:-373.131890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.50; MB_Bottom_Detect_Filter_Max_Range = 126.39; MB_Bottom_Detect_Filter_Min_Depth = 39.50; MB_Bottom_Detect_Filter_Max_Depth = 68.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.883079 meters # Minimum depth: 371.755770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 321.755770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818924; longitude = -122.165315; captureRadius = 10; duration = 79; initialDepth = 321.755770; finalDepth = 321.755770; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.37612 # Altitude Set: 51.37612 # Vehicle Depth:321.75577 # Seafloor Depth:-372.464988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.53; MB_Bottom_Detect_Filter_Max_Range = 123.30; MB_Bottom_Detect_Filter_Min_Depth = 38.53; MB_Bottom_Detect_Filter_Max_Depth = 66.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.882995 meters # Minimum depth: 371.859723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 321.859723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819392; longitude = -122.164978; captureRadius = 10; duration = 79; initialDepth = 321.859723; finalDepth = 321.755770; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.908989 # Altitude Set: 50.908989 # Vehicle Depth:321.859723 # Seafloor Depth:-372.768712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.18; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 122.18; MB_Bottom_Detect_Filter_Min_Depth = 38.18; MB_Bottom_Detect_Filter_Max_Depth = 66.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.715276 meters # Minimum depth: 372.303069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 322.303069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819859; longitude = -122.164642; captureRadius = 10; duration = 67; initialDepth = 322.303069; finalDepth = 321.859723; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.397493 # Altitude Set: 51.397493 # Vehicle Depth:322.303069 # Seafloor Depth:-373.700562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 123.35; MB_Bottom_Detect_Filter_Min_Depth = 38.55; MB_Bottom_Detect_Filter_Max_Depth = 66.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.417057 meters # Minimum depth: 373.338815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.338815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820255; longitude = -122.164358; captureRadius = 10; duration = 76; initialDepth = 323.338815; finalDepth = 322.303069; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.308363 # Altitude Set: 52.308363 # Vehicle Depth:323.338815 # Seafloor Depth:-375.647178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 125.54; MB_Bottom_Detect_Filter_Min_Depth = 39.23; MB_Bottom_Detect_Filter_Max_Depth = 68.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416979 meters # Minimum depth: 374.996301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 324.996301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820703; longitude = -122.164036; captureRadius = 10; duration = 76; initialDepth = 324.996301; finalDepth = 323.338815; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.308363 # Altitude Set: 52.308363 # Vehicle Depth:324.996301 # Seafloor Depth:-376.808951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 125.54; MB_Bottom_Detect_Filter_Min_Depth = 39.23; MB_Bottom_Detect_Filter_Max_Depth = 68.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416902 meters # Minimum depth: 377.684018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 327.684018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821151; longitude = -122.163713; captureRadius = 10; duration = 76; initialDepth = 327.684018; finalDepth = 324.996301; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.81265 # Altitude Set: 51.81265 # Vehicle Depth:327.684018 # Seafloor Depth:-379.056607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.35; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 124.35; MB_Bottom_Detect_Filter_Min_Depth = 38.86; MB_Bottom_Detect_Filter_Max_Depth = 67.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416824 meters # Minimum depth: 373.007755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.007755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821599; longitude = -122.163391; captureRadius = 10; duration = 76; initialDepth = 323.007755; finalDepth = 327.684018; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.472484 # Altitude Set: 54.472484 # Vehicle Depth:323.007755 # Seafloor Depth:-377.480239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.85; MB_Bottom_Detect_Filter_Max_Range = 130.73; MB_Bottom_Detect_Filter_Min_Depth = 40.85; MB_Bottom_Detect_Filter_Max_Depth = 70.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.952337 meters # Minimum depth: 373.007755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 323.007755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822047; longitude = -122.163069; captureRadius = 10; duration = 78; initialDepth = 323.007755; finalDepth = 323.007755; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.472484 # Altitude Set: 54.472484 # Vehicle Depth:323.007755 # Seafloor Depth:-373.032296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.73; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.85; MB_Bottom_Detect_Filter_Max_Range = 130.73; MB_Bottom_Detect_Filter_Min_Depth = 40.85; MB_Bottom_Detect_Filter_Max_Depth = 70.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.882431 meters # Minimum depth: 375.263621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 325.263621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822507; longitude = -122.162738; captureRadius = 10; duration = 79; initialDepth = 325.263621; finalDepth = 323.007755; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.280161 # Altitude Set: 54.280161 # Vehicle Depth:325.263621 # Seafloor Depth:-379.543782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.27; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.71; MB_Bottom_Detect_Filter_Max_Range = 130.27; MB_Bottom_Detect_Filter_Min_Depth = 40.71; MB_Bottom_Detect_Filter_Max_Depth = 70.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.882348 meters # Minimum depth: 370.026492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 320.026492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822974; longitude = -122.162402; captureRadius = 10; duration = 79; initialDepth = 320.026492; finalDepth = 325.263621; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.903612 # Altitude Set: 57.903612 # Vehicle Depth:320.026492 # Seafloor Depth:-377.930104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.43; MB_Bottom_Detect_Filter_Max_Range = 138.97; MB_Bottom_Detect_Filter_Min_Depth = 43.43; MB_Bottom_Detect_Filter_Max_Depth = 75.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.949404 meters # Minimum depth: 365.678996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 315.678996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823442; longitude = -122.162066; captureRadius = 10; duration = 67; initialDepth = 315.678996; finalDepth = 320.026492; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.903612 # Altitude Set: 57.903612 # Vehicle Depth:315.678996 # Seafloor Depth:-369.478161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.43; MB_Bottom_Detect_Filter_Max_Range = 138.97; MB_Bottom_Detect_Filter_Min_Depth = 43.43; MB_Bottom_Detect_Filter_Max_Depth = 75.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416436 meters # Minimum depth: 359.342266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 309.342266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823839; longitude = -122.161780; captureRadius = 10; duration = 76; initialDepth = 309.342266; finalDepth = 315.678996; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.096279 # Altitude Set: 55.096279 # Vehicle Depth:309.342266 # Seafloor Depth:-364.438545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.32; MB_Bottom_Detect_Filter_Max_Range = 132.23; MB_Bottom_Detect_Filter_Min_Depth = 41.32; MB_Bottom_Detect_Filter_Max_Depth = 71.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416358 meters # Minimum depth: 351.554550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 301.554550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824287; longitude = -122.161458; captureRadius = 10; duration = 76; initialDepth = 301.554550; finalDepth = 309.342266; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.467726 # Altitude Set: 56.467726 # Vehicle Depth:301.55455 # Seafloor Depth:-358.022276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.52; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.35; MB_Bottom_Detect_Filter_Max_Range = 135.52; MB_Bottom_Detect_Filter_Min_Depth = 42.35; MB_Bottom_Detect_Filter_Max_Depth = 73.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416280 meters # Minimum depth: 333.977809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 283.977809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824735; longitude = -122.161136; captureRadius = 10; duration = 76; initialDepth = 283.977809; finalDepth = 301.554550; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.041683 # Altitude Set: 60 # Vehicle Depth:283.977809 # Seafloor Depth:-350.019492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.416204 meters # Minimum depth: 322.408583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 272.408583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825183; longitude = -122.160813; captureRadius = 10; duration = 76; initialDepth = 272.408583; finalDepth = 283.977809; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.041683 # Altitude Set: 60 # Vehicle Depth:272.408583 # Seafloor Depth:-333.106889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.717025 meters # Minimum depth: 308.278640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 258.278640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825632; longitude = -122.160491; captureRadius = 10; duration = 78; initialDepth = 258.278640; finalDepth = 272.408583; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.780674 # Altitude Set: 60 # Vehicle Depth:258.27864 # Seafloor Depth:-322.059314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.881785 meters # Minimum depth: 297.845215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 247.845215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826090; longitude = -122.160162; captureRadius = 10; duration = 79; initialDepth = 247.845215; finalDepth = 258.278640; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.780674 # Altitude Set: 60 # Vehicle Depth:247.845215 # Seafloor Depth:-308.063606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.881700 meters # Minimum depth: 284.145360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 234.145360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826557; longitude = -122.159826; captureRadius = 10; duration = 79; initialDepth = 234.145360; finalDepth = 247.845215; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.427445 # Altitude Set: 60 # Vehicle Depth:234.14536 # Seafloor Depth:-296.572805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.183526 meters # Minimum depth: 277.082226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 227.082226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827024; longitude = -122.159490; captureRadius = 10; duration = 68; initialDepth = 227.082226; finalDepth = 234.145360; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.427445 # Altitude Set: 60 # Vehicle Depth:227.082226 # Seafloor Depth:-283.557662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415815 meters # Minimum depth: 269.351388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 219.351388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827424; longitude = -122.159202; captureRadius = 10; duration = 76; initialDepth = 219.351388; finalDepth = 227.082226; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.475436 # Altitude Set: 56.475436 # Vehicle Depth:219.351388 # Seafloor Depth:-275.808115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.54; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.36; MB_Bottom_Detect_Filter_Max_Range = 135.54; MB_Bottom_Detect_Filter_Min_Depth = 42.36; MB_Bottom_Detect_Filter_Max_Depth = 73.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415737 meters # Minimum depth: 260.820279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 210.820279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827872; longitude = -122.158880; captureRadius = 10; duration = 76; initialDepth = 210.820279; finalDepth = 219.351388; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.75285 # Altitude Set: 56.75285 # Vehicle Depth:210.820279 # Seafloor Depth:-267.573129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.56; MB_Bottom_Detect_Filter_Max_Range = 136.21; MB_Bottom_Detect_Filter_Min_Depth = 42.56; MB_Bottom_Detect_Filter_Max_Depth = 73.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415660 meters # Minimum depth: 249.417539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 199.417539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828320; longitude = -122.158558; captureRadius = 10; duration = 76; initialDepth = 199.417539; finalDepth = 210.820279; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.707617 # Altitude Set: 60 # Vehicle Depth:199.417539 # Seafloor Depth:-260.125156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415582 meters # Minimum depth: 237.174029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 187.174029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828768; longitude = -122.158236; captureRadius = 10; duration = 76; initialDepth = 187.174029; finalDepth = 199.417539; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.37824 # Altitude Set: 60 # Vehicle Depth:187.174029 # Seafloor Depth:-248.552269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.481720 meters # Minimum depth: 228.386099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 178.386099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829216; longitude = -122.157914; captureRadius = 10; duration = 77; initialDepth = 178.386099; finalDepth = 187.174029; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.37824 # Altitude Set: 60 # Vehicle Depth:178.386099 # Seafloor Depth:-237.009059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.881137 meters # Minimum depth: 218.175228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 168.175228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829672; longitude = -122.157585; captureRadius = 10; duration = 79; initialDepth = 168.175228; finalDepth = 178.386099; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.942886 # Altitude Set: 59.942886 # Vehicle Depth:168.175228 # Seafloor Depth:-228.118114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 143.86; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.96; MB_Bottom_Detect_Filter_Max_Range = 143.86; MB_Bottom_Detect_Filter_Min_Depth = 44.96; MB_Bottom_Detect_Filter_Max_Depth = 77.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.881053 meters # Minimum depth: 206.432851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 156.432851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830140; longitude = -122.157249; captureRadius = 10; duration = 79; initialDepth = 156.432851; finalDepth = 168.175228; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.986471 # Altitude Set: 60 # Vehicle Depth:156.432851 # Seafloor Depth:-217.419322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.417643 meters # Minimum depth: 199.290669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 149.290669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830607; longitude = -122.156913; captureRadius = 10; duration = 68; initialDepth = 149.290669; finalDepth = 156.432851; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.986471 # Altitude Set: 60 # Vehicle Depth:149.290669 # Seafloor Depth:-205.038587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 144.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 144.00; MB_Bottom_Detect_Filter_Min_Depth = 45.00; MB_Bottom_Detect_Filter_Max_Depth = 78.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415194 meters # Minimum depth: 187.801970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 137.801970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831008; longitude = -122.156625; captureRadius = 10; duration = 76; initialDepth = 137.801970; finalDepth = 149.290669; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.270977 # Altitude Set: 58.270977 # Vehicle Depth:137.80197 # Seafloor Depth:-196.072947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.85; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.70; MB_Bottom_Detect_Filter_Max_Range = 139.85; MB_Bottom_Detect_Filter_Min_Depth = 43.70; MB_Bottom_Detect_Filter_Max_Depth = 75.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415117 meters # Minimum depth: 178.554761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 128.554761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831456; longitude = -122.156302; captureRadius = 10; duration = 76; initialDepth = 128.554761; finalDepth = 137.801970; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.553125 # Altitude Set: 58.553125 # Vehicle Depth:128.554761 # Seafloor Depth:-187.107886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.91; MB_Bottom_Detect_Filter_Max_Range = 140.53; MB_Bottom_Detect_Filter_Min_Depth = 43.91; MB_Bottom_Detect_Filter_Max_Depth = 76.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.415039 meters # Minimum depth: 170.204519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 120.204519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831904; longitude = -122.155980; captureRadius = 10; duration = 76; initialDepth = 120.204519; finalDepth = 128.554761; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.553125 # Altitude Set: 58.553125 # Vehicle Depth:120.204519 # Seafloor Depth:-177.378467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.91; MB_Bottom_Detect_Filter_Max_Range = 140.53; MB_Bottom_Detect_Filter_Min_Depth = 43.91; MB_Bottom_Detect_Filter_Max_Depth = 76.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.414961 meters # Minimum depth: 164.220368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 114.220368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832353; longitude = -122.155658; captureRadius = 10; duration = 76; initialDepth = 114.220368; finalDepth = 120.204519; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.173948 # Altitude Set: 57.173948 # Vehicle Depth:114.220368 # Seafloor Depth:-169.802297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.88; MB_Bottom_Detect_Filter_Max_Range = 137.22; MB_Bottom_Detect_Filter_Min_Depth = 42.88; MB_Bottom_Detect_Filter_Max_Depth = 74.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.246419 meters # Minimum depth: 156.360256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 106.360256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832801; longitude = -122.155336; captureRadius = 10; duration = 77; initialDepth = 106.360256; finalDepth = 114.220368; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.744227 # Altitude Set: 57.744227 # Vehicle Depth:106.360256 # Seafloor Depth:-164.104483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.31; MB_Bottom_Detect_Filter_Max_Range = 138.59; MB_Bottom_Detect_Filter_Min_Depth = 43.31; MB_Bottom_Detect_Filter_Max_Depth = 75.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.880490 meters # Minimum depth: 152.390262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 102.390262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833255; longitude = -122.155009; captureRadius = 10; duration = 79; initialDepth = 102.390262; finalDepth = 106.360256; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.744227 # Altitude Set: 57.744227 # Vehicle Depth:102.390262 # Seafloor Depth:-156.288619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 138.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.31; MB_Bottom_Detect_Filter_Max_Range = 138.59; MB_Bottom_Detect_Filter_Min_Depth = 43.31; MB_Bottom_Detect_Filter_Max_Depth = 75.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.880406 meters # Minimum depth: 149.584015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 99.584015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833722; longitude = -122.154673; captureRadius = 10; duration = 79; initialDepth = 99.584015; finalDepth = 102.390262; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.898357 # Altitude Set: 53.898357 # Vehicle Depth:99.584015 # Seafloor Depth:-152.069863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.36; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.42; MB_Bottom_Detect_Filter_Max_Range = 129.36; MB_Bottom_Detect_Filter_Min_Depth = 40.42; MB_Bottom_Detect_Filter_Max_Depth = 70.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.651754 meters # Minimum depth: 146.465042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 96.465042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834190; longitude = -122.154337; captureRadius = 10; duration = 68; initialDepth = 96.465042; finalDepth = 99.584015; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.058071 # Altitude Set: 53.058071 # Vehicle Depth:96.465042 # Seafloor Depth:-149.523113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 127.34; MB_Bottom_Detect_Filter_Min_Depth = 39.79; MB_Bottom_Detect_Filter_Max_Depth = 68.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.414574 meters # Minimum depth: 143.191690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 93.191690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834593; longitude = -122.154047; captureRadius = 10; duration = 76; initialDepth = 93.191690; finalDepth = 96.465042; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.058071 # Altitude Set: 53.058071 # Vehicle Depth:93.19169 # Seafloor Depth:-145.473724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.34; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 127.34; MB_Bottom_Detect_Filter_Min_Depth = 39.79; MB_Bottom_Detect_Filter_Max_Depth = 68.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.414496 meters # Minimum depth: 140.504272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 90.504272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835041; longitude = -122.153725; captureRadius = 10; duration = 76; initialDepth = 90.504272; finalDepth = 93.191690; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.282034 # Altitude Set: 52.282034 # Vehicle Depth:90.504272 # Seafloor Depth:-142.761213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.48; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 125.48; MB_Bottom_Detect_Filter_Min_Depth = 39.21; MB_Bottom_Detect_Filter_Max_Depth = 67.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 57.414418 meters # Minimum depth: 138.496700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 88.496700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835489; longitude = -122.153403; captureRadius = 10; duration = 76; initialDepth = 88.496700; finalDepth = 90.504272; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.256941 # Altitude Set: 52.256941 # Vehicle Depth:88.4967 # Seafloor Depth:-140.514998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.42; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 125.42; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 67.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 62.198865 meters # Minimum depth: 136.954068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 86.954068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835937; longitude = -122.153080; captureRadius = 10; duration = 82; initialDepth = 86.954068; finalDepth = 88.496700; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.018298 # Altitude Set: 52.018298 # Vehicle Depth:86.954068 # Seafloor Depth:-138.375462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.01; MB_Bottom_Detect_Filter_Max_Range = 124.84; MB_Bottom_Detect_Filter_Min_Depth = 39.01; MB_Bottom_Detect_Filter_Max_Depth = 67.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 29.295006 meters # Minimum depth: 135.839756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 85.839756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836422; longitude = -122.152731; captureRadius = 10; duration = 39; initialDepth = 85.839756; finalDepth = 86.954068; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.421394 # Altitude Set: 51.421394 # Vehicle Depth:85.839756 # Seafloor Depth:-137.037018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.41; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 123.41; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 66.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.928047 meters # Minimum depth: 132.657650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 82.657650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836532; longitude = -122.152433; captureRadius = 10; duration = 73; initialDepth = 82.657650; finalDepth = 85.839756; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.016971 # Altitude Set: 53.016971 # Vehicle Depth:82.65765 # Seafloor Depth:-135.674621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.76; MB_Bottom_Detect_Filter_Max_Range = 127.24; MB_Bottom_Detect_Filter_Min_Depth = 39.76; MB_Bottom_Detect_Filter_Max_Depth = 68.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.105117 meters # Minimum depth: 128.748379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 78.748379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836738; longitude = -122.151873; captureRadius = 10; duration = 73; initialDepth = 78.748379; finalDepth = 82.657650; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.588227 # Altitude Set: 53.588227 # Vehicle Depth:78.748379 # Seafloor Depth:-132.336606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.19; MB_Bottom_Detect_Filter_Max_Range = 128.61; MB_Bottom_Detect_Filter_Min_Depth = 40.19; MB_Bottom_Detect_Filter_Max_Depth = 69.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.750627 meters # Minimum depth: 128.248452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 78.248452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836945; longitude = -122.151311; captureRadius = 10; duration = 73; initialDepth = 78.248452; finalDepth = 78.748379; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.588227 # Altitude Set: 53.588227 # Vehicle Depth:78.248452 # Seafloor Depth:-128.750035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.61; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.19; MB_Bottom_Detect_Filter_Max_Range = 128.61; MB_Bottom_Detect_Filter_Min_Depth = 40.19; MB_Bottom_Detect_Filter_Max_Depth = 69.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.927698 meters # Minimum depth: 126.688004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 76.688004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837151; longitude = -122.150752; captureRadius = 10; duration = 73; initialDepth = 76.688004; finalDepth = 78.248452; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.356179 # Altitude Set: 51.356179 # Vehicle Depth:76.688004 # Seafloor Depth:-128.044183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.25; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.927581 meters # Minimum depth: 125.285040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 75.285040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837357; longitude = -122.150192; captureRadius = 10; duration = 73; initialDepth = 75.285040; finalDepth = 76.688004; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.356179 # Altitude Set: 51.356179 # Vehicle Depth:75.28504 # Seafloor Depth:-126.311113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.25; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 123.25; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 66.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.927464 meters # Minimum depth: 124.334692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 74.334692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837563; longitude = -122.149632; captureRadius = 10; duration = 73; initialDepth = 74.334692; finalDepth = 75.285040; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.026073 # Altitude Set: 51.026073 # Vehicle Depth:74.334692 # Seafloor Depth:-125.055082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.46; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 122.46; MB_Bottom_Detect_Filter_Min_Depth = 38.27; MB_Bottom_Detect_Filter_Max_Depth = 66.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.927349 meters # Minimum depth: 122.912220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 72.912220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837769; longitude = -122.149072; captureRadius = 10; duration = 73; initialDepth = 72.912220; finalDepth = 74.334692; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.531295 # Altitude Set: 51.531295 # Vehicle Depth:72.91222 # Seafloor Depth:-124.443515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 123.68; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 66.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.927232 meters # Minimum depth: 121.103215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 71.103215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837975; longitude = -122.148512; captureRadius = 10; duration = 73; initialDepth = 71.103215; finalDepth = 72.912220; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.089387 # Altitude Set: 52.089387 # Vehicle Depth:71.103215 # Seafloor Depth:-123.192602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.01; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 58.736572 meters # Minimum depth: 120.029952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.029952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838181; longitude = -122.147952; captureRadius = 10; duration = 78; initialDepth = 70.029952; finalDepth = 71.103215; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.089387 # Altitude Set: 52.089387 # Vehicle Depth:70.029952 # Seafloor Depth:-121.047797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 125.01; MB_Bottom_Detect_Filter_Min_Depth = 39.07; MB_Bottom_Detect_Filter_Max_Depth = 67.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.117542 meters # Minimum depth: 120.029952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 70.029952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838401; longitude = -122.147353; captureRadius = 10; duration = 68; initialDepth = 70.029952; finalDepth = 70.029952; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.017845 # Altitude Set: 51.017845 # Vehicle Depth:70.029952 # Seafloor Depth:-120.545231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.44; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 122.44; MB_Bottom_Detect_Filter_Min_Depth = 38.26; MB_Bottom_Detect_Filter_Max_Depth = 66.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926883 meters # Minimum depth: 119.419138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 69.419138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838593; longitude = -122.146832; captureRadius = 10; duration = 73; initialDepth = 69.419138; finalDepth = 70.029952; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.234553 # Altitude Set: 51.234553 # Vehicle Depth:69.419138 # Seafloor Depth:-120.653691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 122.96; MB_Bottom_Detect_Filter_Min_Depth = 38.43; MB_Bottom_Detect_Filter_Max_Depth = 66.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926767 meters # Minimum depth: 118.615179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 68.615179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838799; longitude = -122.146272; captureRadius = 10; duration = 73; initialDepth = 68.615179; finalDepth = 69.419138; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.234553 # Altitude Set: 51.234553 # Vehicle Depth:68.615179 # Seafloor Depth:-119.236886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.96; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 122.96; MB_Bottom_Detect_Filter_Min_Depth = 38.43; MB_Bottom_Detect_Filter_Max_Depth = 66.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926650 meters # Minimum depth: 117.417191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 67.417191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839005; longitude = -122.145712; captureRadius = 10; duration = 73; initialDepth = 67.417191; finalDepth = 68.615179; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.343525 # Altitude Set: 51.343525 # Vehicle Depth:67.417191 # Seafloor Depth:-118.760716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.51; MB_Bottom_Detect_Filter_Max_Range = 123.22; MB_Bottom_Detect_Filter_Min_Depth = 38.51; MB_Bottom_Detect_Filter_Max_Depth = 66.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926533 meters # Minimum depth: 115.994969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 65.994969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839211; longitude = -122.145152; captureRadius = 10; duration = 73; initialDepth = 65.994969; finalDepth = 67.417191; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.343525 # Altitude Set: 51.343525 # Vehicle Depth:65.994969 # Seafloor Depth:-117.196473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.22; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.51; MB_Bottom_Detect_Filter_Max_Range = 123.22; MB_Bottom_Detect_Filter_Min_Depth = 38.51; MB_Bottom_Detect_Filter_Max_Depth = 66.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.584144 meters # Minimum depth: 115.858114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 65.858114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839418; longitude = -122.144591; captureRadius = 10; duration = 76; initialDepth = 65.858114; finalDepth = 65.994969; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.201504 # Altitude Set: 51.201504 # Vehicle Depth:65.858114 # Seafloor Depth:-115.858114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.88; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.40; MB_Bottom_Detect_Filter_Max_Range = 122.88; MB_Bottom_Detect_Filter_Min_Depth = 38.40; MB_Bottom_Detect_Filter_Max_Depth = 66.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.268574 meters # Minimum depth: 116.055513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 66.055513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839634; longitude = -122.144004; captureRadius = 10; duration = 69; initialDepth = 66.055513; finalDepth = 65.858114; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.065582 # Altitude Set: 50.065582 # Vehicle Depth:66.055513 # Seafloor Depth:-116.121095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.55; MB_Bottom_Detect_Filter_Max_Range = 120.16; MB_Bottom_Detect_Filter_Min_Depth = 37.55; MB_Bottom_Detect_Filter_Max_Depth = 65.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926185 meters # Minimum depth: 116.151210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 66.151210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839830; longitude = -122.143471; captureRadius = 10; duration = 73; initialDepth = 66.151210; finalDepth = 66.055513; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.385988 # Altitude Set: 50.385988 # Vehicle Depth:66.15121 # Seafloor Depth:-116.537198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.93; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 120.93; MB_Bottom_Detect_Filter_Min_Depth = 37.79; MB_Bottom_Detect_Filter_Max_Depth = 65.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.926068 meters # Minimum depth: 115.472813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 65.472813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840036; longitude = -122.142911; captureRadius = 10; duration = 73; initialDepth = 65.472813; finalDepth = 66.151210; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.411553 # Altitude Set: 50.411553 # Vehicle Depth:65.472813 # Seafloor Depth:-115.884366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 120.99; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 65.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.925952 meters # Minimum depth: 115.131939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 65.131939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840242; longitude = -122.142351; captureRadius = 10; duration = 73; initialDepth = 65.131939; finalDepth = 65.472813; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.411553 # Altitude Set: 50.411553 # Vehicle Depth:65.131939 # Seafloor Depth:-115.364504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.99; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 120.99; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 65.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.925835 meters # Minimum depth: 113.339186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 63.339186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840448; longitude = -122.141791; captureRadius = 10; duration = 73; initialDepth = 63.339186; finalDepth = 65.131939; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.762766 # Altitude Set: 51.762766 # Vehicle Depth:63.339186 # Seafloor Depth:-115.101952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.23; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.925719 meters # Minimum depth: 111.663538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 61.663538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840654; longitude = -122.141231; captureRadius = 10; duration = 73; initialDepth = 61.663538; finalDepth = 63.339186; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.762766 # Altitude Set: 51.762766 # Vehicle Depth:61.663538 # Seafloor Depth:-113.195638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.23; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 124.23; MB_Bottom_Detect_Filter_Min_Depth = 38.82; MB_Bottom_Detect_Filter_Max_Depth = 67.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.263900 meters # Minimum depth: 110.301663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 60.301663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840860; longitude = -122.140671; captureRadius = 10; duration = 68; initialDepth = 60.301663; finalDepth = 61.663538; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.5321 # Altitude Set: 51.5321 # Vehicle Depth:60.301663 # Seafloor Depth:-111.790609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 123.68; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 66.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Edgetech sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 51.488946 # Altitude Set: 51.488946 # Vehicle Depth:60.301663 # Seafloor Depth:-110.954549 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 64.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 123.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 123.57; MB_Bottom_Detect_Filter_Min_Depth = 38.62; MB_Bottom_Detect_Filter_Max_Depth = 66.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 1500.000000 meters # Minimum depth: 110.301663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 49.000000 meters # Behavior depth of 60.301663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841052; longitude = -122.140148; captureRadius = 10; duration = 2000; initialDepth = 60.301663; finalDepth = 60.301663; maxCrossTrackError = 30; speed = 1.600000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 244.890990; pitch = -15.000000; speed = 1.600000; maxDepth = 3.000000; minAltitude = 49.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 244.890990; speed = 1.600000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 60; abortOnTimeout = True; } #######################################################