# 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: Borderlands2007_4v3.rte # Mission File: 20070711MAUV.cfg # Distance: 77898.928069 (m) # Estimated Time: 87878 (s) 24.411 (hr) # Abort Time: 33038 (s) # set to 9 hours = 32400 s # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1161 (s) # Way Points: 23 # Route Points: 778 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 770 (m) # Abort Vehicle Depth: 800 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -117.635450 33.347902 -87.411674 0.000000 3 # 1 -117.655152 33.332714 -293.968445 2489.405064 1 # 2 -117.711394 33.286121 -767.023682 9844.583907 4 # 3 -117.710259 33.285161 -767.863525 9994.580602 3 # 4 -117.654252 33.331830 -305.533752 17340.172960 4 # 5 -117.653117 33.330869 -313.924057 17490.208829 3 # 6 -117.709124 33.284201 -769.304443 24835.761895 4 # 7 -117.707989 33.283241 -770.105469 24985.760146 3 # 8 -117.651982 33.329909 -342.457169 32331.351996 4 # 9 -117.650847 33.328948 -419.381264 32481.389426 3 # 10 -117.706854 33.282280 -770.486816 39827.020104 4 # 11 -117.705719 33.281320 -770.905029 39977.019912 3 # 12 -117.649712 33.327987 -398.218002 47322.611302 4 # 13 -117.648577 33.327027 -338.967354 47472.571582 3 # 14 -117.704584 33.280360 -771.274170 54818.201761 4 # 15 -117.703449 33.279400 -771.937256 54968.203125 3 # 16 -117.647443 33.326066 -314.786995 62313.727935 4 # 17 -117.646308 33.325105 -310.529846 62463.768490 3 # 18 -117.702314 33.278440 -772.351807 69809.254019 4 # 19 -117.682168 33.292742 -656.452255 72265.594887 3 # 20 -117.694216 33.302936 -689.913849 73857.977612 4 # 21 -117.675547 33.318493 -581.052109 76306.530546 3 # 22 -117.663499 33.308297 -564.474716 77898.928069 4 # # A total of 778 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 32400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 770.000000; abortDepth = 800.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1161; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 61.028690 meters # Minimum depth: 564.474716 meters looking forward 100.000000 meters along route # Maximum depth: 565.467300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.474716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308297; longitude = -117.663499; captureRadius = 10; duration = 61; # abortOnTimeout = True; initialDepth = 514.474716; finalDepth = 514.474716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.474716 # Seafloor depth:-564.474716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.634507 meters # Minimum depth: 565.664930 meters looking forward 100.000000 meters along route # Maximum depth: 568.425538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.664930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308688; longitude = -117.663961; captureRadius = 10; duration = 100; initialDepth = 515.664930; finalDepth = 514.474716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:515.66493 # Seafloor depth:-565.664930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.634156 meters # Minimum depth: 568.584793 meters looking forward 100.000000 meters along route # Maximum depth: 573.910128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.584793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309332; longitude = -117.664722; captureRadius = 10; duration = 100; initialDepth = 518.584793; finalDepth = 515.664930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:518.584793 # Seafloor depth:-568.584793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.633805 meters # Minimum depth: 575.461878 meters looking forward 100.000000 meters along route # Maximum depth: 579.197716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.461878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309976; longitude = -117.665483; captureRadius = 10; duration = 100; initialDepth = 525.461878; finalDepth = 518.584793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:525.461878 # Seafloor depth:-575.461878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.633453 meters # Minimum depth: 579.472107 meters looking forward 100.000000 meters along route # Maximum depth: 584.404275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.472107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310621; longitude = -117.666245; captureRadius = 10; duration = 100; initialDepth = 529.472107; finalDepth = 525.461878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:529.472107 # Seafloor depth:-579.472107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.633103 meters # Minimum depth: 585.799677 meters looking forward 100.000000 meters along route # Maximum depth: 588.346518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.799677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311265; longitude = -117.667006; captureRadius = 10; duration = 100; initialDepth = 535.799677; finalDepth = 529.472107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.799677 # Seafloor depth:-585.799677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.632752 meters # Minimum depth: 587.490169 meters looking forward 100.000000 meters along route # Maximum depth: 588.524912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.490169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311909; longitude = -117.667768; captureRadius = 10; duration = 100; initialDepth = 537.490169; finalDepth = 535.799677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3094639999999 # Actual altitude: 50.3094639999999 # Commanded vehicle depth:537.490169 # Seafloor depth:-587.799633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.632400 meters # Minimum depth: 586.194701 meters looking forward 100.000000 meters along route # Maximum depth: 588.582295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.194701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312554; longitude = -117.668529; captureRadius = 10; duration = 100; initialDepth = 536.194701; finalDepth = 537.490169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.387594 # Actual altitude: 52.387594 # Commanded vehicle depth:536.194701 # Seafloor depth:-588.582295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.632050 meters # Minimum depth: 584.433742 meters looking forward 100.000000 meters along route # Maximum depth: 586.285020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.433742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313198; longitude = -117.669290; captureRadius = 10; duration = 100; initialDepth = 534.433742; finalDepth = 536.194701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.387594 # Actual altitude: 52.387594 # Commanded vehicle depth:534.433742 # Seafloor depth:-586.285020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.631698 meters # Minimum depth: 581.931604 meters looking forward 100.000000 meters along route # Maximum depth: 583.706973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.931604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313842; longitude = -117.670052; captureRadius = 10; duration = 100; initialDepth = 531.931604; finalDepth = 534.433742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851278 # Actual altitude: 51.851278 # Commanded vehicle depth:531.931604 # Seafloor depth:-583.706973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.964305 meters # Minimum depth: 577.271437 meters looking forward 100.000000 meters along route # Maximum depth: 581.731330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.271437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314487; longitude = -117.670813; captureRadius = 10; duration = 100; initialDepth = 527.271437; finalDepth = 531.931604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.437858 # Actual altitude: 54.437858 # Commanded vehicle depth:527.271437 # Seafloor depth:-581.709295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.298039 meters # Minimum depth: 563.386533 meters looking forward 100.000000 meters along route # Maximum depth: 577.206499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.386533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315133; longitude = -117.671577; captureRadius = 10; duration = 100; initialDepth = 513.386533; finalDepth = 527.271437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.819966 # Actual altitude: 63.819966 # Commanded vehicle depth:513.386533 # Seafloor depth:-577.206499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 255.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.630645 meters # Minimum depth: 563.395948 meters looking forward 100.000000 meters along route # Maximum depth: 565.587868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.395948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315775; longitude = -117.672336; captureRadius = 10; duration = 100; initialDepth = 513.395948; finalDepth = 513.386533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.819966 # Actual altitude: 63.819966 # Commanded vehicle depth:513.395948 # Seafloor depth:-563.395948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 255.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.630295 meters # Minimum depth: 564.882453 meters looking forward 100.000000 meters along route # Maximum depth: 569.449947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.882453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316420; longitude = -117.673097; captureRadius = 10; duration = 100; initialDepth = 514.882453; finalDepth = 513.395948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.882453 # Seafloor depth:-564.882453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.629943 meters # Minimum depth: 570.182786 meters looking forward 100.000000 meters along route # Maximum depth: 574.012533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.182786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317064; longitude = -117.673859; captureRadius = 10; duration = 100; initialDepth = 520.182786; finalDepth = 514.882453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:520.182786 # Seafloor depth:-570.182786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.517682 meters # Minimum depth: 574.220908 meters looking forward 100.000000 meters along route # Maximum depth: 580.590949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.220908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317709; longitude = -117.674620; captureRadius = 10; duration = 122; initialDepth = 524.220908; finalDepth = 520.182786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:524.220908 # Seafloor depth:-574.220908 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 89.664299 meters # Minimum depth: 581.052109 meters looking forward 100.000000 meters along route # Maximum depth: 583.940438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.052109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318493; longitude = -117.675547; captureRadius = 10; duration = 89; # abortOnTimeout = True; initialDepth = 531.052109; finalDepth = 524.220908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:531.052109 # Seafloor depth:-581.052109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.410075 meters # Minimum depth: 584.430405 meters looking forward 100.000000 meters along route # Maximum depth: 588.657950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.430405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.676231; captureRadius = 10; duration = 101; initialDepth = 534.430405; finalDepth = 531.052109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:534.430405 # Seafloor depth:-584.430405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.410456 meters # Minimum depth: 588.995594 meters looking forward 100.000000 meters along route # Maximum depth: 592.460780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.995594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.677004; captureRadius = 10; duration = 101; initialDepth = 538.995594; finalDepth = 534.430405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:538.995594 # Seafloor depth:-588.995594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.410839 meters # Minimum depth: 592.997124 meters looking forward 100.000000 meters along route # Maximum depth: 596.293749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.997124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.677777; captureRadius = 10; duration = 101; initialDepth = 542.997124; finalDepth = 538.995594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:542.997124 # Seafloor depth:-592.997124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.411221 meters # Minimum depth: 595.438523 meters looking forward 100.000000 meters along route # Maximum depth: 598.788484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.438523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.678550; captureRadius = 10; duration = 101; initialDepth = 545.438523; finalDepth = 542.997124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:545.438523 # Seafloor depth:-595.438523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.411603 meters # Minimum depth: 598.744506 meters looking forward 100.000000 meters along route # Maximum depth: 602.899176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.744506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.679324; captureRadius = 10; duration = 101; initialDepth = 548.744506; finalDepth = 545.438523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:548.744506 # Seafloor depth:-598.744506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.411985 meters # Minimum depth: 599.915808 meters looking forward 100.000000 meters along route # Maximum depth: 603.556100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.915808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.680097; captureRadius = 10; duration = 101; initialDepth = 549.915808; finalDepth = 548.744506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.727212 # Actual altitude: 51.727212 # Commanded vehicle depth:549.915808 # Seafloor depth:-601.643020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.412367 meters # Minimum depth: 602.588698 meters looking forward 100.000000 meters along route # Maximum depth: 605.550806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.588698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.680870; captureRadius = 10; duration = 101; initialDepth = 552.588698; finalDepth = 549.915808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.727212 # Actual altitude: 51.727212 # Commanded vehicle depth:552.588698 # Seafloor depth:-603.869412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.412749 meters # Minimum depth: 613.352244 meters looking forward 100.000000 meters along route # Maximum depth: 617.322803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.352244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.681643; captureRadius = 10; duration = 101; initialDepth = 563.352244; finalDepth = 552.588698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.280714 # Actual altitude: 51.280714 # Commanded vehicle depth:563.352244 # Seafloor depth:-613.352244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.413131 meters # Minimum depth: 616.855287 meters looking forward 100.000000 meters along route # Maximum depth: 618.848432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.855287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.682417; captureRadius = 10; duration = 101; initialDepth = 566.855287; finalDepth = 563.352244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.177768 # Actual altitude: 50.177768 # Commanded vehicle depth:566.855287 # Seafloor depth:-617.033055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.413513 meters # Minimum depth: 618.892553 meters looking forward 100.000000 meters along route # Maximum depth: 621.028434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.892553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.683190; captureRadius = 10; duration = 101; initialDepth = 568.892553; finalDepth = 566.855287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.177768 # Actual altitude: 50.177768 # Commanded vehicle depth:568.892553 # Seafloor depth:-618.892553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.413896 meters # Minimum depth: 621.882024 meters looking forward 100.000000 meters along route # Maximum depth: 624.063450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.882024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.683963; captureRadius = 10; duration = 101; initialDepth = 571.882024; finalDepth = 568.892553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:571.882024 # Seafloor depth:-621.882024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.414277 meters # Minimum depth: 624.328886 meters looking forward 100.000000 meters along route # Maximum depth: 627.359982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.328886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.684736; captureRadius = 10; duration = 101; initialDepth = 574.328886; finalDepth = 571.882024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:574.328886 # Seafloor depth:-624.328886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.414660 meters # Minimum depth: 628.039463 meters looking forward 100.000000 meters along route # Maximum depth: 629.859868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.039463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.685509; captureRadius = 10; duration = 101; initialDepth = 578.039463; finalDepth = 574.328886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:578.039463 # Seafloor depth:-628.039463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.415042 meters # Minimum depth: 628.259255 meters looking forward 100.000000 meters along route # Maximum depth: 634.135075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.259255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.686283; captureRadius = 10; duration = 101; initialDepth = 578.259255; finalDepth = 578.039463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2385579999999 # Actual altitude: 51.2385579999999 # Commanded vehicle depth:578.259255 # Seafloor depth:-629.497813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.415424 meters # Minimum depth: 634.306042 meters looking forward 100.000000 meters along route # Maximum depth: 641.676994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.306042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.687056; captureRadius = 10; duration = 101; initialDepth = 584.306042; finalDepth = 578.259255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2385579999999 # Actual altitude: 51.2385579999999 # Commanded vehicle depth:584.306042 # Seafloor depth:-634.306042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.415806 meters # Minimum depth: 643.328755 meters looking forward 100.000000 meters along route # Maximum depth: 651.409946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.328755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.687829; captureRadius = 10; duration = 101; initialDepth = 593.328755; finalDepth = 584.306042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:593.328755 # Seafloor depth:-643.328755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.416189 meters # Minimum depth: 652.048685 meters looking forward 100.000000 meters along route # Maximum depth: 658.377719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.048685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.688602; captureRadius = 10; duration = 101; initialDepth = 602.048685; finalDepth = 593.328755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:602.048685 # Seafloor depth:-652.048685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.416570 meters # Minimum depth: 660.328375 meters looking forward 100.000000 meters along route # Maximum depth: 667.073337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.328375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.689376; captureRadius = 10; duration = 101; initialDepth = 610.328375; finalDepth = 602.048685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:610.328375 # Seafloor depth:-660.328375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.416953 meters # Minimum depth: 668.050511 meters looking forward 100.000000 meters along route # Maximum depth: 675.095940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.050511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.690149; captureRadius = 10; duration = 101; initialDepth = 618.050511; finalDepth = 610.328375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:618.050511 # Seafloor depth:-668.050511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.417335 meters # Minimum depth: 675.235142 meters looking forward 100.000000 meters along route # Maximum depth: 680.397450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.235142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.690922; captureRadius = 10; duration = 101; initialDepth = 625.235142; finalDepth = 618.050511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:625.235142 # Seafloor depth:-675.235142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.417717 meters # Minimum depth: 677.913234 meters looking forward 100.000000 meters along route # Maximum depth: 683.098728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.913234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.691695; captureRadius = 10; duration = 101; initialDepth = 627.913234; finalDepth = 625.235142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.256826 # Actual altitude: 51.256826 # Commanded vehicle depth:627.913234 # Seafloor depth:-679.170060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 105.090961 meters # Minimum depth: 683.843114 meters looking forward 100.000000 meters along route # Maximum depth: 688.002357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.843114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.692469; captureRadius = 10; duration = 105; initialDepth = 633.843114; finalDepth = 627.913234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.256826 # Actual altitude: 51.256826 # Commanded vehicle depth:633.843114 # Seafloor depth:-683.843114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.105866 meters # Minimum depth: 688.392308 meters looking forward 100.000000 meters along route # Maximum depth: 690.431205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.392308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303724; longitude = -117.693270; captureRadius = 10; duration = 124; initialDepth = 638.392308; finalDepth = 633.843114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:638.392308 # Seafloor depth:-688.392308 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 20 at end of line 20 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 45.592984; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 45.592984; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1419; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 74.488284 meters # Minimum depth: 689.883304 meters looking forward 100.000000 meters along route # Maximum depth: 692.194529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.883304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302936; longitude = -117.694216; captureRadius = 10; duration = 74; # abortOnTimeout = True; initialDepth = 639.883304; finalDepth = 638.392308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0305450000001 # Actual altitude: 50.0305450000001 # Commanded vehicle depth:639.883304 # Seafloor depth:-689.913849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.648586 meters # Minimum depth: 686.671894 meters looking forward 100.000000 meters along route # Maximum depth: 692.036718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.671894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.693652; captureRadius = 10; duration = 100; initialDepth = 636.671894; finalDepth = 639.883304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.364824 # Actual altitude: 55.364824 # Commanded vehicle depth:636.671894 # Seafloor depth:-692.036718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.648938 meters # Minimum depth: 680.404251 meters looking forward 100.000000 meters along route # Maximum depth: 685.458884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.404251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.692891; captureRadius = 10; duration = 100; initialDepth = 630.404251; finalDepth = 636.671894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.364824 # Actual altitude: 55.364824 # Commanded vehicle depth:630.404251 # Seafloor depth:-685.458884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.649287 meters # Minimum depth: 677.296206 meters looking forward 100.000000 meters along route # Maximum depth: 679.727322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.296206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.692129; captureRadius = 10; duration = 100; initialDepth = 627.296206; finalDepth = 630.404251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.054633 # Actual altitude: 55.054633 # Commanded vehicle depth:627.296206 # Seafloor depth:-679.727322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.649639 meters # Minimum depth: 673.192674 meters looking forward 100.000000 meters along route # Maximum depth: 676.075997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.192674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.691368; captureRadius = 10; duration = 100; initialDepth = 623.192674; finalDepth = 627.296206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.883323 # Actual altitude: 52.883323 # Commanded vehicle depth:623.192674 # Seafloor depth:-676.075997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.649989 meters # Minimum depth: 671.152957 meters looking forward 100.000000 meters along route # Maximum depth: 673.593458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.152957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.690606; captureRadius = 10; duration = 100; initialDepth = 621.152957; finalDepth = 623.192674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.883323 # Actual altitude: 52.883323 # Commanded vehicle depth:621.152957 # Seafloor depth:-673.593458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.650340 meters # Minimum depth: 670.301586 meters looking forward 100.000000 meters along route # Maximum depth: 671.574700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.301586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.689845; captureRadius = 10; duration = 100; initialDepth = 620.301586; finalDepth = 621.152957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.440501 # Actual altitude: 52.440501 # Commanded vehicle depth:620.301586 # Seafloor depth:-671.574700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.650690 meters # Minimum depth: 669.805684 meters looking forward 100.000000 meters along route # Maximum depth: 675.439993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.805684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.689083; captureRadius = 10; duration = 100; initialDepth = 619.805684; finalDepth = 620.301586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.273114 # Actual altitude: 51.273114 # Commanded vehicle depth:619.805684 # Seafloor depth:-670.871737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.651042 meters # Minimum depth: 675.371532 meters looking forward 100.000000 meters along route # Maximum depth: 683.477135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.371532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.688322; captureRadius = 10; duration = 100; initialDepth = 625.371532; finalDepth = 619.805684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.066053 # Actual altitude: 51.066053 # Commanded vehicle depth:625.371532 # Seafloor depth:-675.513624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.651392 meters # Minimum depth: 685.264727 meters looking forward 100.000000 meters along route # Maximum depth: 693.371941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.264727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.687560; captureRadius = 10; duration = 100; initialDepth = 635.264727; finalDepth = 625.371532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.142092 # Actual altitude: 50.142092 # Commanded vehicle depth:635.264727 # Seafloor depth:-685.264727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.651743 meters # Minimum depth: 693.965600 meters looking forward 100.000000 meters along route # Maximum depth: 696.112449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.965600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.686799; captureRadius = 10; duration = 100; initialDepth = 643.965600; finalDepth = 635.264727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:643.9656 # Seafloor depth:-693.965600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.652093 meters # Minimum depth: 696.597834 meters looking forward 100.000000 meters along route # Maximum depth: 701.724707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.597834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.686037; captureRadius = 10; duration = 100; initialDepth = 646.597834; finalDepth = 643.965600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:646.597834 # Seafloor depth:-696.597834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.652445 meters # Minimum depth: 700.925997 meters looking forward 100.000000 meters along route # Maximum depth: 703.296134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.925997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.685276; captureRadius = 10; duration = 100; initialDepth = 650.925997; finalDepth = 646.597834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:650.925997 # Seafloor depth:-700.925997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.652795 meters # Minimum depth: 683.680711 meters looking forward 100.000000 meters along route # Maximum depth: 703.177608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.680711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.684514; captureRadius = 10; duration = 100; initialDepth = 633.680711; finalDepth = 650.925997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.496897 # Actual altitude: 69.496897 # Commanded vehicle depth:633.680711 # Seafloor depth:-703.177608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 277.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.706802 meters # Minimum depth: 663.224022 meters looking forward 100.000000 meters along route # Maximum depth: 681.614050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.224022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.683753; captureRadius = 10; duration = 104; initialDepth = 613.224022; finalDepth = 633.680711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.496897 # Actual altitude: 69.496897 # Commanded vehicle depth:613.224022 # Seafloor depth:-681.614050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 277.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.728660 meters # Minimum depth: 655.604539 meters looking forward 100.000000 meters along route # Maximum depth: 662.847741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.604539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293412; longitude = -117.682960; captureRadius = 10; duration = 104; initialDepth = 605.604539; finalDepth = 613.224022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.390028 # Actual altitude: 68.390028 # Commanded vehicle depth:605.604539 # Seafloor depth:-662.847741 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.36; MB_Bottom_Detect_Filter_Max_Range = 273.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 44.232863 meters # Minimum depth: 655.604539 meters looking forward 100.000000 meters along route # Maximum depth: 657.240148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.604539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292742; longitude = -117.682168; captureRadius = 10; duration = 44; # abortOnTimeout = True; initialDepth = 605.604539; finalDepth = 605.604539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.243202 # Actual altitude: 57.243202 # Commanded vehicle depth:605.604539 # Seafloor depth:-656.452255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 228.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.745180 meters # Minimum depth: 658.553323 meters looking forward 100.000000 meters along route # Maximum depth: 668.429913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.553323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292484; longitude = -117.682531; captureRadius = 10; duration = 104; initialDepth = 608.553323; finalDepth = 605.604539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.847716 # Actual altitude: 50.847716 # Commanded vehicle depth:608.553323 # Seafloor depth:-658.553323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.745614 meters # Minimum depth: 670.820597 meters looking forward 100.000000 meters along route # Maximum depth: 683.575304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.820597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291875; longitude = -117.683390; captureRadius = 10; duration = 104; initialDepth = 620.820597; finalDepth = 608.553323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:620.820597 # Seafloor depth:-670.820597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.204529 meters # Minimum depth: 684.240843 meters looking forward 100.000000 meters along route # Maximum depth: 702.692367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.240843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291265; longitude = -117.684249; captureRadius = 10; duration = 106; initialDepth = 634.240843; finalDepth = 620.820597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:634.240843 # Seafloor depth:-684.240843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.288000 meters # Minimum depth: 702.934850 meters looking forward 100.000000 meters along route # Maximum depth: 710.515583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.934850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290646; longitude = -117.685120; captureRadius = 10; duration = 103; initialDepth = 652.934850; finalDepth = 634.240843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:652.93485 # Seafloor depth:-702.934850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.746916 meters # Minimum depth: 713.099613 meters looking forward 100.000000 meters along route # Maximum depth: 717.291448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.099613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290045; longitude = -117.685967; captureRadius = 10; duration = 104; initialDepth = 663.099613; finalDepth = 652.934850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:663.099613 # Seafloor depth:-713.099613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.747350 meters # Minimum depth: 712.603890 meters looking forward 100.000000 meters along route # Maximum depth: 715.390822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.603890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289435; longitude = -117.686826; captureRadius = 10; duration = 104; initialDepth = 662.603890; finalDepth = 663.099613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.641778 # Actual altitude: 52.641778 # Commanded vehicle depth:662.60389 # Seafloor depth:-715.245668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.747783 meters # Minimum depth: 713.962785 meters looking forward 100.000000 meters along route # Maximum depth: 721.818520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.962785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288825; longitude = -117.687686; captureRadius = 10; duration = 104; initialDepth = 663.962785; finalDepth = 662.603890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.641778 # Actual altitude: 52.641778 # Commanded vehicle depth:663.962785 # Seafloor depth:-713.962785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.748218 meters # Minimum depth: 723.957938 meters looking forward 100.000000 meters along route # Maximum depth: 736.124507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.957938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288215; longitude = -117.688545; captureRadius = 10; duration = 104; initialDepth = 673.957938; finalDepth = 663.962785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:673.957938 # Seafloor depth:-723.957938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.804610 meters # Minimum depth: 737.605061 meters looking forward 100.000000 meters along route # Maximum depth: 752.366933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.605061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287605; longitude = -117.689404; captureRadius = 10; duration = 104; initialDepth = 687.605061; finalDepth = 673.957938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:687.605061 # Seafloor depth:-737.605061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.693128 meters # Minimum depth: 752.375811 meters looking forward 100.000000 meters along route # Maximum depth: 763.513699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.375811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.690263; captureRadius = 10; duration = 104; initialDepth = 702.375811; finalDepth = 687.605061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:702.375811 # Seafloor depth:-752.375811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.749520 meters # Minimum depth: 761.840407 meters looking forward 100.000000 meters along route # Maximum depth: 764.797384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.840407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286385; longitude = -117.691122; captureRadius = 10; duration = 104; initialDepth = 711.840407; finalDepth = 702.375811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9569769999999 # Actual altitude: 52.9569769999999 # Commanded vehicle depth:711.840407 # Seafloor depth:-764.797384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.749954 meters # Minimum depth: 757.728950 meters looking forward 100.000000 meters along route # Maximum depth: 759.730943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.728950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285775; longitude = -117.691981; captureRadius = 10; duration = 104; initialDepth = 707.728950; finalDepth = 711.840407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9569769999999 # Actual altitude: 52.9569769999999 # Commanded vehicle depth:707.72895 # Seafloor depth:-759.730943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.750388 meters # Minimum depth: 756.420035 meters looking forward 100.000000 meters along route # Maximum depth: 758.144682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.420035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285166; longitude = -117.692840; captureRadius = 10; duration = 104; initialDepth = 706.420035; finalDepth = 707.728950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.001993 # Actual altitude: 52.001993 # Commanded vehicle depth:706.420035 # Seafloor depth:-757.447596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.750822 meters # Minimum depth: 757.282001 meters looking forward 100.000000 meters along route # Maximum depth: 758.010680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.282001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284556; longitude = -117.693699; captureRadius = 10; duration = 104; initialDepth = 707.282001; finalDepth = 706.420035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.027561 # Actual altitude: 51.027561 # Commanded vehicle depth:707.282001 # Seafloor depth:-757.826608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.751257 meters # Minimum depth: 758.387939 meters looking forward 100.000000 meters along route # Maximum depth: 761.953829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.387939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283946; longitude = -117.694558; captureRadius = 10; duration = 104; initialDepth = 708.387939; finalDepth = 707.282001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5446069999999 # Actual altitude: 50.5446069999999 # Commanded vehicle depth:708.387939 # Seafloor depth:-758.387939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.319409 meters # Minimum depth: 761.971005 meters looking forward 100.000000 meters along route # Maximum depth: 763.062886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.971005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283336; longitude = -117.695418; captureRadius = 10; duration = 109; initialDepth = 711.971005; finalDepth = 708.387939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.971005 # Seafloor depth:-761.971005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.184406 meters # Minimum depth: 763.111351 meters looking forward 100.000000 meters along route # Maximum depth: 763.940520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.111351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282699; longitude = -117.696314; captureRadius = 10; duration = 100; initialDepth = 713.111351; finalDepth = 711.971005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:713.111351 # Seafloor depth:-763.111351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.752559 meters # Minimum depth: 764.244962 meters looking forward 100.000000 meters along route # Maximum depth: 765.244404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.244962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282116; longitude = -117.697136; captureRadius = 10; duration = 104; initialDepth = 714.244962; finalDepth = 713.111351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.244962 # Seafloor depth:-764.244962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.752993 meters # Minimum depth: 765.491415 meters looking forward 100.000000 meters along route # Maximum depth: 766.606982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.491415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281506; longitude = -117.697995; captureRadius = 10; duration = 104; initialDepth = 715.491415; finalDepth = 714.244962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.491415 # Seafloor depth:-765.491415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.753427 meters # Minimum depth: 766.787173 meters looking forward 100.000000 meters along route # Maximum depth: 767.993142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.787173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280896; longitude = -117.698854; captureRadius = 10; duration = 104; initialDepth = 716.787173; finalDepth = 715.491415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.787173 # Seafloor depth:-766.787173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.753861 meters # Minimum depth: 768.102238 meters looking forward 100.000000 meters along route # Maximum depth: 769.422942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.102238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280286; longitude = -117.699713; captureRadius = 10; duration = 104; initialDepth = 718.102238; finalDepth = 716.787173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.102238 # Seafloor depth:-768.102238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 107.919493 meters # Minimum depth: 769.458970 meters looking forward 100.000000 meters along route # Maximum depth: 770.861498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.458970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279676; longitude = -117.700572; captureRadius = 10; duration = 107; initialDepth = 719.458970; finalDepth = 718.102238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.45897 # Seafloor depth:-769.458970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.448588 meters # Minimum depth: 770.904777 meters looking forward 100.000000 meters along route # Maximum depth: 772.350067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.904777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279048; longitude = -117.701457; captureRadius = 10; duration = 104; initialDepth = 720.904777; finalDepth = 719.458970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.904777 # Seafloor depth:-770.904777 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 18 at end of line 18 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 50.173478; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 50.173478; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1587; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 28.111041 meters # Minimum depth: 771.414762 meters looking forward 100.000000 meters along route # Maximum depth: 772.351807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.414762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278440; longitude = -117.702314; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 721.414762; finalDepth = 720.904777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.937045 # Actual altitude: 50.937045 # Commanded vehicle depth:721.414762 # Seafloor depth:-772.351807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.438343 meters # Minimum depth: 770.712571 meters looking forward 100.000000 meters along route # Maximum depth: 771.971508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.712571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278619; longitude = -117.702100; captureRadius = 10; duration = 101; initialDepth = 720.712571; finalDepth = 721.414762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2589369999999 # Actual altitude: 51.2589369999999 # Commanded vehicle depth:720.712571 # Seafloor depth:-771.971508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.437961 meters # Minimum depth: 769.160089 meters looking forward 100.000000 meters along route # Maximum depth: 770.519690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.160089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279263; longitude = -117.701326; captureRadius = 10; duration = 101; initialDepth = 719.160089; finalDepth = 720.712571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.359601 # Actual altitude: 51.359601 # Commanded vehicle depth:719.160089 # Seafloor depth:-770.519690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.437578 meters # Minimum depth: 768.032315 meters looking forward 100.000000 meters along route # Maximum depth: 769.125789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.032315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279907; longitude = -117.700553; captureRadius = 10; duration = 101; initialDepth = 718.032315; finalDepth = 719.160089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.359601 # Actual altitude: 51.359601 # Commanded vehicle depth:718.032315 # Seafloor depth:-769.125789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.437196 meters # Minimum depth: 766.533960 meters looking forward 100.000000 meters along route # Maximum depth: 767.777685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.533960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280552; longitude = -117.699780; captureRadius = 10; duration = 101; initialDepth = 716.533960; finalDepth = 718.032315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.243725 # Actual altitude: 51.243725 # Commanded vehicle depth:716.53396 # Seafloor depth:-767.777685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.436814 meters # Minimum depth: 765.407683 meters looking forward 100.000000 meters along route # Maximum depth: 766.427476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.407683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281196; longitude = -117.699006; captureRadius = 10; duration = 101; initialDepth = 715.407683; finalDepth = 716.533960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.243725 # Actual altitude: 51.243725 # Commanded vehicle depth:715.407683 # Seafloor depth:-766.427476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.436432 meters # Minimum depth: 763.914941 meters looking forward 100.000000 meters along route # Maximum depth: 765.074103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.914941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281840; longitude = -117.698233; captureRadius = 10; duration = 101; initialDepth = 713.914941; finalDepth = 715.407683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.159162 # Actual altitude: 51.159162 # Commanded vehicle depth:713.914941 # Seafloor depth:-765.074103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.436050 meters # Minimum depth: 762.527314 meters looking forward 100.000000 meters along route # Maximum depth: 763.737856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.527314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.697460; captureRadius = 10; duration = 101; initialDepth = 712.527314; finalDepth = 713.914941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2105419999999 # Actual altitude: 51.2105419999999 # Commanded vehicle depth:712.527314 # Seafloor depth:-763.737856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.435667 meters # Minimum depth: 761.710377 meters looking forward 100.000000 meters along route # Maximum depth: 762.499085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.710377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.696686; captureRadius = 10; duration = 101; initialDepth = 711.710377; finalDepth = 712.527314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2105419999999 # Actual altitude: 51.2105419999999 # Commanded vehicle depth:711.710377 # Seafloor depth:-762.499085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.435285 meters # Minimum depth: 758.158480 meters looking forward 100.000000 meters along route # Maximum depth: 761.557852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.158480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.695913; captureRadius = 10; duration = 101; initialDepth = 708.158480; finalDepth = 711.710377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.399372 # Actual altitude: 53.399372 # Commanded vehicle depth:708.15848 # Seafloor depth:-761.557852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.434903 meters # Minimum depth: 757.518676 meters looking forward 100.000000 meters along route # Maximum depth: 758.922131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.518676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.695140; captureRadius = 10; duration = 101; initialDepth = 707.518676; finalDepth = 708.158480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.399372 # Actual altitude: 53.399372 # Commanded vehicle depth:707.518676 # Seafloor depth:-758.032092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.434521 meters # Minimum depth: 759.404282 meters looking forward 100.000000 meters along route # Maximum depth: 761.230717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.404282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.694367; captureRadius = 10; duration = 101; initialDepth = 709.404282; finalDepth = 707.518676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.513416 # Actual altitude: 50.513416 # Commanded vehicle depth:709.404282 # Seafloor depth:-759.854826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.434139 meters # Minimum depth: 758.443743 meters looking forward 100.000000 meters along route # Maximum depth: 764.418548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.443743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.693593; captureRadius = 10; duration = 101; initialDepth = 708.443743; finalDepth = 709.404282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.450544 # Actual altitude: 50.450544 # Commanded vehicle depth:708.443743 # Seafloor depth:-758.443743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.433757 meters # Minimum depth: 764.751220 meters looking forward 100.000000 meters along route # Maximum depth: 766.868341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.751220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.692820; captureRadius = 10; duration = 101; initialDepth = 714.751220; finalDepth = 708.443743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0855320000001 # Actual altitude: 50.0855320000001 # Commanded vehicle depth:714.75122 # Seafloor depth:-764.836752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.433374 meters # Minimum depth: 757.008771 meters looking forward 100.000000 meters along route # Maximum depth: 764.951302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.008771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.692047; captureRadius = 10; duration = 101; initialDepth = 707.008771; finalDepth = 714.751220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.942531 # Actual altitude: 57.942531 # Commanded vehicle depth:707.008771 # Seafloor depth:-764.951302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 231.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.432992 meters # Minimum depth: 742.974260 meters looking forward 100.000000 meters along route # Maximum depth: 755.438590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.974260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.691273; captureRadius = 10; duration = 101; initialDepth = 692.974260; finalDepth = 707.008771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.46433 # Actual altitude: 62.46433 # Commanded vehicle depth:692.97426 # Seafloor depth:-755.438590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 249.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.432610 meters # Minimum depth: 727.485675 meters looking forward 100.000000 meters along route # Maximum depth: 739.155406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.485675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.690500; captureRadius = 10; duration = 101; initialDepth = 677.485675; finalDepth = 692.974260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.46433 # Actual altitude: 62.46433 # Commanded vehicle depth:677.485675 # Seafloor depth:-739.155406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 249.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.432228 meters # Minimum depth: 714.425219 meters looking forward 100.000000 meters along route # Maximum depth: 725.385988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.425219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.689727; captureRadius = 10; duration = 101; initialDepth = 664.425219; finalDepth = 677.485675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.669731 # Actual altitude: 61.669731 # Commanded vehicle depth:664.425219 # Seafloor depth:-725.385988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.431846 meters # Minimum depth: 710.530972 meters looking forward 100.000000 meters along route # Maximum depth: 714.233668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.530972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.688953; captureRadius = 10; duration = 101; initialDepth = 660.530972; finalDepth = 664.425219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.960769 # Actual altitude: 60.960769 # Commanded vehicle depth:660.530972 # Seafloor depth:-714.233668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.431464 meters # Minimum depth: 713.779451 meters looking forward 100.000000 meters along route # Maximum depth: 714.008390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.779451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.688180; captureRadius = 10; duration = 101; initialDepth = 663.779451; finalDepth = 660.530972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7026959999999 # Actual altitude: 53.7026959999999 # Commanded vehicle depth:663.779451 # Seafloor depth:-713.779451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.431082 meters # Minimum depth: 709.587142 meters looking forward 100.000000 meters along route # Maximum depth: 715.246934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.587142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.687407; captureRadius = 10; duration = 101; initialDepth = 659.587142; finalDepth = 663.779451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.659792 # Actual altitude: 55.659792 # Commanded vehicle depth:659.587142 # Seafloor depth:-715.246934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.430700 meters # Minimum depth: 696.232970 meters looking forward 100.000000 meters along route # Maximum depth: 707.593074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.232970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.686633; captureRadius = 10; duration = 101; initialDepth = 646.232970; finalDepth = 659.587142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.360104 # Actual altitude: 61.360104 # Commanded vehicle depth:646.23297 # Seafloor depth:-707.593074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 245.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.430317 meters # Minimum depth: 681.434905 meters looking forward 100.000000 meters along route # Maximum depth: 693.746636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.434905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.685860; captureRadius = 10; duration = 101; initialDepth = 631.434905; finalDepth = 646.232970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.311731 # Actual altitude: 62.311731 # Commanded vehicle depth:631.434905 # Seafloor depth:-693.746636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 249.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.429936 meters # Minimum depth: 675.587044 meters looking forward 100.000000 meters along route # Maximum depth: 681.133471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.587044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.685087; captureRadius = 10; duration = 101; initialDepth = 625.587044; finalDepth = 631.434905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.311731 # Actual altitude: 62.311731 # Commanded vehicle depth:625.587044 # Seafloor depth:-681.133471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 249.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.429553 meters # Minimum depth: 674.679093 meters looking forward 100.000000 meters along route # Maximum depth: 679.324339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.679093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.684313; captureRadius = 10; duration = 101; initialDepth = 624.679093; finalDepth = 625.587044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.546427 # Actual altitude: 55.546427 # Commanded vehicle depth:624.679093 # Seafloor depth:-674.732882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.429172 meters # Minimum depth: 678.265784 meters looking forward 100.000000 meters along route # Maximum depth: 685.052679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.265784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.683540; captureRadius = 10; duration = 101; initialDepth = 628.265784; finalDepth = 624.679093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6920849999999 # Actual altitude: 50.6920849999999 # Commanded vehicle depth:628.265784 # Seafloor depth:-678.957869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.428789 meters # Minimum depth: 691.173961 meters looking forward 100.000000 meters along route # Maximum depth: 702.654179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.173961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.682767; captureRadius = 10; duration = 101; initialDepth = 641.173961; finalDepth = 628.265784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6920849999999 # Actual altitude: 50.6920849999999 # Commanded vehicle depth:641.173961 # Seafloor depth:-691.173961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.428408 meters # Minimum depth: 684.556920 meters looking forward 100.000000 meters along route # Maximum depth: 697.950134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.556920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.681993; captureRadius = 10; duration = 101; initialDepth = 634.556920; finalDepth = 641.173961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.265024 # Actual altitude: 63.265024 # Commanded vehicle depth:634.55692 # Seafloor depth:-697.821944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.428025 meters # Minimum depth: 671.176199 meters looking forward 100.000000 meters along route # Maximum depth: 684.256356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.176199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.681220; captureRadius = 10; duration = 101; initialDepth = 621.176199; finalDepth = 634.556920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.265024 # Actual altitude: 63.265024 # Commanded vehicle depth:621.176199 # Seafloor depth:-684.256356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.427643 meters # Minimum depth: 666.904031 meters looking forward 100.000000 meters along route # Maximum depth: 669.397138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.904031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.680447; captureRadius = 10; duration = 101; initialDepth = 616.904031; finalDepth = 621.176199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.080157 # Actual altitude: 63.080157 # Commanded vehicle depth:616.904031 # Seafloor depth:-669.397138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 252.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.427262 meters # Minimum depth: 667.017442 meters looking forward 100.000000 meters along route # Maximum depth: 674.363028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.017442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.679673; captureRadius = 10; duration = 101; initialDepth = 617.017442; finalDepth = 616.904031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.493107 # Actual altitude: 52.493107 # Commanded vehicle depth:617.017442 # Seafloor depth:-667.017442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.426879 meters # Minimum depth: 676.052067 meters looking forward 100.000000 meters along route # Maximum depth: 682.995269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.052067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.678900; captureRadius = 10; duration = 101; initialDepth = 626.052067; finalDepth = 617.017442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.052067 # Seafloor depth:-676.052067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.426497 meters # Minimum depth: 679.502048 meters looking forward 100.000000 meters along route # Maximum depth: 684.704041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.502048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.678127; captureRadius = 10; duration = 101; initialDepth = 629.502048; finalDepth = 626.052067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.990751 # Actual altitude: 53.990751 # Commanded vehicle depth:629.502048 # Seafloor depth:-683.492799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.426116 meters # Minimum depth: 640.732921 meters looking forward 100.000000 meters along route # Maximum depth: 678.814227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.732921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.677354; captureRadius = 10; duration = 101; initialDepth = 590.732921; finalDepth = 629.502048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.0813059999999 # Actual altitude: 88.0813059999999 # Commanded vehicle depth:590.732921 # Seafloor depth:-678.814227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 352.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 352.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.425733 meters # Minimum depth: 625.760456 meters looking forward 100.000000 meters along route # Maximum depth: 633.868235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.760456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.676580; captureRadius = 10; duration = 101; initialDepth = 575.760456; finalDepth = 590.732921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.0813059999999 # Actual altitude: 88.0813059999999 # Commanded vehicle depth:575.760456 # Seafloor depth:-633.868235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 352.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 352.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.425352 meters # Minimum depth: 620.896632 meters looking forward 100.000000 meters along route # Maximum depth: 625.458612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.896632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.675807; captureRadius = 10; duration = 101; initialDepth = 570.896632; finalDepth = 575.760456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1077790000001 # Actual altitude: 58.1077790000001 # Commanded vehicle depth:570.896632 # Seafloor depth:-625.458612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.424969 meters # Minimum depth: 619.136489 meters looking forward 100.000000 meters along route # Maximum depth: 621.435117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.136489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.675034; captureRadius = 10; duration = 101; initialDepth = 569.136489; finalDepth = 570.896632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5619800000001 # Actual altitude: 54.5619800000001 # Commanded vehicle depth:569.136489 # Seafloor depth:-621.435117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.424588 meters # Minimum depth: 619.177481 meters looking forward 100.000000 meters along route # Maximum depth: 621.590182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.177481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.674260; captureRadius = 10; duration = 101; initialDepth = 569.177481; finalDepth = 569.136489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.298628 # Actual altitude: 52.298628 # Commanded vehicle depth:569.177481 # Seafloor depth:-619.177481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.424205 meters # Minimum depth: 621.291157 meters looking forward 100.000000 meters along route # Maximum depth: 623.055576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.291157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.673487; captureRadius = 10; duration = 101; initialDepth = 571.291157; finalDepth = 569.177481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:571.291157 # Seafloor depth:-621.291157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.423824 meters # Minimum depth: 623.707264 meters looking forward 100.000000 meters along route # Maximum depth: 624.089241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.707264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.672714; captureRadius = 10; duration = 101; initialDepth = 573.707264; finalDepth = 571.291157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.339036 # Actual altitude: 50.339036 # Commanded vehicle depth:573.707264 # Seafloor depth:-624.046300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.423442 meters # Minimum depth: 612.363601 meters looking forward 100.000000 meters along route # Maximum depth: 623.197259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.363601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.671940; captureRadius = 10; duration = 101; initialDepth = 562.363601; finalDepth = 573.707264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.833658 # Actual altitude: 60.833658 # Commanded vehicle depth:562.363601 # Seafloor depth:-623.197259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.423059 meters # Minimum depth: 609.058315 meters looking forward 100.000000 meters along route # Maximum depth: 612.594523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.058315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.671167; captureRadius = 10; duration = 101; initialDepth = 559.058315; finalDepth = 562.363601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.833658 # Actual altitude: 60.833658 # Commanded vehicle depth:559.058315 # Seafloor depth:-611.739757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.422678 meters # Minimum depth: 604.195216 meters looking forward 100.000000 meters along route # Maximum depth: 610.761819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.195216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.670394; captureRadius = 10; duration = 101; initialDepth = 554.195216; finalDepth = 559.058315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.566603 # Actual altitude: 56.566603 # Commanded vehicle depth:554.195216 # Seafloor depth:-610.761819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.422296 meters # Minimum depth: 599.385152 meters looking forward 100.000000 meters along route # Maximum depth: 603.892489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.385152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.669620; captureRadius = 10; duration = 101; initialDepth = 549.385152; finalDepth = 554.195216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.566603 # Actual altitude: 56.566603 # Commanded vehicle depth:549.385152 # Seafloor depth:-603.892489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.421915 meters # Minimum depth: 594.695253 meters looking forward 100.000000 meters along route # Maximum depth: 598.837301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.695253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.668847; captureRadius = 10; duration = 101; initialDepth = 544.695253; finalDepth = 549.385152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.507337 # Actual altitude: 54.507337 # Commanded vehicle depth:544.695253 # Seafloor depth:-598.837301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.421532 meters # Minimum depth: 590.650865 meters looking forward 100.000000 meters along route # Maximum depth: 594.449218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.650865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.668074; captureRadius = 10; duration = 101; initialDepth = 540.650865; finalDepth = 544.695253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.142048 # Actual altitude: 54.142048 # Commanded vehicle depth:540.650865 # Seafloor depth:-594.449218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.421150 meters # Minimum depth: 584.011560 meters looking forward 100.000000 meters along route # Maximum depth: 589.305628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.011560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.667300; captureRadius = 10; duration = 101; initialDepth = 534.011560; finalDepth = 540.650865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2940679999999 # Actual altitude: 55.2940679999999 # Commanded vehicle depth:534.01156 # Seafloor depth:-589.305628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.420769 meters # Minimum depth: 577.527154 meters looking forward 100.000000 meters along route # Maximum depth: 583.240825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.527154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.666527; captureRadius = 10; duration = 101; initialDepth = 527.527154; finalDepth = 534.011560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.713671 # Actual altitude: 55.713671 # Commanded vehicle depth:527.527154 # Seafloor depth:-583.240825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.420387 meters # Minimum depth: 572.771585 meters looking forward 100.000000 meters along route # Maximum depth: 577.213145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.771585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.665754; captureRadius = 10; duration = 101; initialDepth = 522.771585; finalDepth = 527.527154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.713671 # Actual altitude: 55.713671 # Commanded vehicle depth:522.771585 # Seafloor depth:-577.213145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.420004 meters # Minimum depth: 564.887257 meters looking forward 100.000000 meters along route # Maximum depth: 570.754373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.887257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.664980; captureRadius = 10; duration = 101; initialDepth = 514.887257; finalDepth = 522.771585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.867116 # Actual altitude: 55.867116 # Commanded vehicle depth:514.887257 # Seafloor depth:-570.754373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.419623 meters # Minimum depth: 560.286496 meters looking forward 100.000000 meters along route # Maximum depth: 563.395236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.286496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.664207; captureRadius = 10; duration = 101; initialDepth = 510.286496; finalDepth = 514.887257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.867116 # Actual altitude: 55.867116 # Commanded vehicle depth:510.286496 # Seafloor depth:-563.395236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.419242 meters # Minimum depth: 554.422770 meters looking forward 100.000000 meters along route # Maximum depth: 558.858487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.422770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.663434; captureRadius = 10; duration = 101; initialDepth = 504.422770; finalDepth = 510.286496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.435717 # Actual altitude: 54.435717 # Commanded vehicle depth:504.42277 # Seafloor depth:-558.858487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.418859 meters # Minimum depth: 548.533246 meters looking forward 100.000000 meters along route # Maximum depth: 554.721371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.533246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.662660; captureRadius = 10; duration = 101; initialDepth = 498.533246; finalDepth = 504.422770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0798540000001 # Actual altitude: 56.0798540000001 # Commanded vehicle depth:498.533246 # Seafloor depth:-554.613100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.418477 meters # Minimum depth: 545.180809 meters looking forward 100.000000 meters along route # Maximum depth: 548.465569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.180809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.661887; captureRadius = 10; duration = 101; initialDepth = 495.180809; finalDepth = 498.533246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0798540000001 # Actual altitude: 56.0798540000001 # Commanded vehicle depth:495.180809 # Seafloor depth:-548.382902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.418096 meters # Minimum depth: 536.207696 meters looking forward 100.000000 meters along route # Maximum depth: 544.790264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.207696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.661114; captureRadius = 10; duration = 101; initialDepth = 486.207696; finalDepth = 495.180809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5825679999999 # Actual altitude: 58.5825679999999 # Commanded vehicle depth:486.207696 # Seafloor depth:-544.790264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.417714 meters # Minimum depth: 522.154010 meters looking forward 100.000000 meters along route # Maximum depth: 535.253609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.154010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.660341; captureRadius = 10; duration = 101; initialDepth = 472.154010; finalDepth = 486.207696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.099599 # Actual altitude: 63.099599 # Commanded vehicle depth:472.15401 # Seafloor depth:-535.253609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.417332 meters # Minimum depth: 500.813019 meters looking forward 100.000000 meters along route # Maximum depth: 518.800657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.813019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.659567; captureRadius = 10; duration = 101; initialDepth = 450.813019; finalDepth = 472.154010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.987638 # Actual altitude: 67.987638 # Commanded vehicle depth:450.813019 # Seafloor depth:-518.800657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 271.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.416951 meters # Minimum depth: 480.909712 meters looking forward 100.000000 meters along route # Maximum depth: 497.873240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.909712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.658794; captureRadius = 10; duration = 101; initialDepth = 430.909712; finalDepth = 450.813019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.987638 # Actual altitude: 67.987638 # Commanded vehicle depth:430.909712 # Seafloor depth:-497.873240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 271.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.416568 meters # Minimum depth: 473.209222 meters looking forward 100.000000 meters along route # Maximum depth: 480.352999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.209222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.658021; captureRadius = 10; duration = 101; initialDepth = 423.209222; finalDepth = 430.909712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.963528 # Actual altitude: 66.963528 # Commanded vehicle depth:423.209222 # Seafloor depth:-480.352999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 267.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.416187 meters # Minimum depth: 459.592097 meters looking forward 100.000000 meters along route # Maximum depth: 470.921551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.592097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.657247; captureRadius = 10; duration = 101; initialDepth = 409.592097; finalDepth = 423.209222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.329454 # Actual altitude: 61.329454 # Commanded vehicle depth:409.592097 # Seafloor depth:-470.921551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 245.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.415805 meters # Minimum depth: 446.171117 meters looking forward 100.000000 meters along route # Maximum depth: 456.551319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.171117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.656474; captureRadius = 10; duration = 101; initialDepth = 396.171117; finalDepth = 409.592097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.329454 # Actual altitude: 61.329454 # Commanded vehicle depth:396.171117 # Seafloor depth:-456.551319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 245.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.415424 meters # Minimum depth: 439.724486 meters looking forward 100.000000 meters along route # Maximum depth: 441.671010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.724486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.655701; captureRadius = 10; duration = 101; initialDepth = 389.724486; finalDepth = 396.171117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.380202 # Actual altitude: 60.380202 # Commanded vehicle depth:389.724486 # Seafloor depth:-441.509025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 241.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.415041 meters # Minimum depth: 434.270552 meters looking forward 100.000000 meters along route # Maximum depth: 438.524419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.270552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.654927; captureRadius = 10; duration = 101; initialDepth = 384.270552; finalDepth = 389.724486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.54965 # Actual altitude: 53.54965 # Commanded vehicle depth:384.270552 # Seafloor depth:-437.820202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.414660 meters # Minimum depth: 431.709605 meters looking forward 100.000000 meters along route # Maximum depth: 434.363520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.709605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.654154; captureRadius = 10; duration = 101; initialDepth = 381.709605; finalDepth = 384.270552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.54965 # Actual altitude: 53.54965 # Commanded vehicle depth:381.709605 # Seafloor depth:-434.223963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.414278 meters # Minimum depth: 427.454305 meters looking forward 100.000000 meters along route # Maximum depth: 430.761347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.454305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.653381; captureRadius = 10; duration = 101; initialDepth = 377.454305; finalDepth = 381.709605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.307042 # Actual altitude: 53.307042 # Commanded vehicle depth:377.454305 # Seafloor depth:-430.761347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.413897 meters # Minimum depth: 418.537572 meters looking forward 100.000000 meters along route # Maximum depth: 427.471364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.537572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.652607; captureRadius = 10; duration = 101; initialDepth = 368.537572; finalDepth = 377.454305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.933792 # Actual altitude: 58.933792 # Commanded vehicle depth:368.537572 # Seafloor depth:-427.471364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.413514 meters # Minimum depth: 407.748924 meters looking forward 100.000000 meters along route # Maximum depth: 415.345968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.748924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.651834; captureRadius = 10; duration = 101; initialDepth = 357.748924; finalDepth = 368.537572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.933792 # Actual altitude: 58.933792 # Commanded vehicle depth:357.748924 # Seafloor depth:-415.345968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.413133 meters # Minimum depth: 390.991550 meters looking forward 100.000000 meters along route # Maximum depth: 405.748486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.991550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.651061; captureRadius = 10; duration = 101; initialDepth = 340.991550; finalDepth = 357.748924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.756936 # Actual altitude: 64.756936 # Commanded vehicle depth:340.99155 # Seafloor depth:-405.748486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 259.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.412752 meters # Minimum depth: 379.430661 meters looking forward 100.000000 meters along route # Maximum depth: 390.296556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.430661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.650287; captureRadius = 10; duration = 101; initialDepth = 329.430661; finalDepth = 340.991550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.756936 # Actual altitude: 64.756936 # Commanded vehicle depth:329.430661 # Seafloor depth:-390.296556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 259.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.412369 meters # Minimum depth: 363.615781 meters looking forward 100.000000 meters along route # Maximum depth: 377.001681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.615781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.649514; captureRadius = 10; duration = 101; initialDepth = 313.615781; finalDepth = 329.430661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3859 # Actual altitude: 63.3859 # Commanded vehicle depth:313.615781 # Seafloor depth:-377.001681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 253.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 103.535188 meters # Minimum depth: 347.614788 meters looking forward 100.000000 meters along route # Maximum depth: 362.238694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.614788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.648741; captureRadius = 10; duration = 103; initialDepth = 297.614788; finalDepth = 313.615781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.623906 # Actual altitude: 64.623906 # Commanded vehicle depth:297.614788 # Seafloor depth:-362.238694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.663435 meters # Minimum depth: 328.704255 meters looking forward 100.000000 meters along route # Maximum depth: 347.212968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.704255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323736; longitude = -117.647951; captureRadius = 10; duration = 112; initialDepth = 278.704255; finalDepth = 297.614788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.508713 # Actual altitude: 68.508713 # Commanded vehicle depth:278.704255 # Seafloor depth:-347.212968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 274.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.826501 meters # Minimum depth: 312.215870 meters looking forward 100.000000 meters along route # Maximum depth: 325.845848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.215870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324452; longitude = -117.647092; captureRadius = 10; duration = 102; initialDepth = 262.215870; finalDepth = 278.704255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.508713 # Actual altitude: 68.508713 # Commanded vehicle depth:262.21587 # Seafloor depth:-325.845848 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 274.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 46.869718 meters # Minimum depth: 309.875068 meters looking forward 100.000000 meters along route # Maximum depth: 317.168939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.875068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325105; longitude = -117.646308; captureRadius = 10; duration = 46; # abortOnTimeout = True; initialDepth = 259.875068; finalDepth = 262.215870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.629978 # Actual altitude: 63.629978 # Commanded vehicle depth:259.875068 # Seafloor depth:-310.529846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.170837 meters # Minimum depth: 311.052186 meters looking forward 100.000000 meters along route # Maximum depth: 313.761657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.052186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325405; longitude = -117.646663; captureRadius = 10; duration = 103; initialDepth = 261.052186; finalDepth = 259.875068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.886663 # Actual altitude: 50.886663 # Commanded vehicle depth:261.052186 # Seafloor depth:-311.938849 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 16 at end of line 16 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.600133; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.600133; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 641; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 30.824498 meters # Minimum depth: 311.423807 meters looking forward 100.000000 meters along route # Maximum depth: 315.833943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.423807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326066; longitude = -117.647443; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 261.423807; finalDepth = 261.052186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.363188 # Actual altitude: 53.363188 # Commanded vehicle depth:261.423807 # Seafloor depth:-314.786995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.409653 meters # Minimum depth: 317.360706 meters looking forward 100.000000 meters along route # Maximum depth: 334.575035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.360706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.647678; captureRadius = 10; duration = 101; initialDepth = 267.360706; finalDepth = 261.423807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.363188 # Actual altitude: 53.363188 # Commanded vehicle depth:267.360706 # Seafloor depth:-317.360706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.410035 meters # Minimum depth: 335.593892 meters looking forward 100.000000 meters along route # Maximum depth: 348.332247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.593892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.648451; captureRadius = 10; duration = 101; initialDepth = 285.593892; finalDepth = 267.360706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:285.593892 # Seafloor depth:-335.593892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.410417 meters # Minimum depth: 352.392586 meters looking forward 100.000000 meters along route # Maximum depth: 363.629564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.392586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.649225; captureRadius = 10; duration = 101; initialDepth = 302.392586; finalDepth = 285.593892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:302.392586 # Seafloor depth:-352.392586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.410798 meters # Minimum depth: 366.076619 meters looking forward 100.000000 meters along route # Maximum depth: 379.092907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.076619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.649998; captureRadius = 10; duration = 101; initialDepth = 316.076619; finalDepth = 302.392586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:316.076619 # Seafloor depth:-366.076619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.411180 meters # Minimum depth: 379.513362 meters looking forward 100.000000 meters along route # Maximum depth: 390.096787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.513362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.650771; captureRadius = 10; duration = 101; initialDepth = 329.513362; finalDepth = 316.076619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:329.513362 # Seafloor depth:-379.513362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.411562 meters # Minimum depth: 393.413523 meters looking forward 100.000000 meters along route # Maximum depth: 407.809322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.413523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.651545; captureRadius = 10; duration = 101; initialDepth = 343.413523; finalDepth = 329.513362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:343.413523 # Seafloor depth:-393.413523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.411943 meters # Minimum depth: 409.428724 meters looking forward 100.000000 meters along route # Maximum depth: 415.925276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.428724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.652318; captureRadius = 10; duration = 101; initialDepth = 359.428724; finalDepth = 343.413523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:359.428724 # Seafloor depth:-409.428724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.412325 meters # Minimum depth: 419.714557 meters looking forward 100.000000 meters along route # Maximum depth: 427.537720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.714557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.653091; captureRadius = 10; duration = 101; initialDepth = 369.714557; finalDepth = 359.428724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:369.714557 # Seafloor depth:-419.714557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.412707 meters # Minimum depth: 428.364754 meters looking forward 100.000000 meters along route # Maximum depth: 436.100623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.364754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.653864; captureRadius = 10; duration = 101; initialDepth = 378.364754; finalDepth = 369.714557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:378.364754 # Seafloor depth:-428.364754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.413088 meters # Minimum depth: 436.119230 meters looking forward 100.000000 meters along route # Maximum depth: 440.447743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.119230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.654638; captureRadius = 10; duration = 101; initialDepth = 386.119230; finalDepth = 378.364754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:386.11923 # Seafloor depth:-436.119230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.413471 meters # Minimum depth: 442.110636 meters looking forward 100.000000 meters along route # Maximum depth: 446.892285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.110636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.655411; captureRadius = 10; duration = 101; initialDepth = 392.110636; finalDepth = 386.119230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:392.110636 # Seafloor depth:-442.110636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.413852 meters # Minimum depth: 446.241408 meters looking forward 100.000000 meters along route # Maximum depth: 450.938337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.241408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.656184; captureRadius = 10; duration = 101; initialDepth = 396.241408; finalDepth = 392.110636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:396.241408 # Seafloor depth:-446.241408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.414233 meters # Minimum depth: 451.727766 meters looking forward 100.000000 meters along route # Maximum depth: 460.173604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.727766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.656958; captureRadius = 10; duration = 101; initialDepth = 401.727766; finalDepth = 396.241408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.032798 # Actual altitude: 50.032798 # Commanded vehicle depth:401.727766 # Seafloor depth:-451.760564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.414616 meters # Minimum depth: 463.947674 meters looking forward 100.000000 meters along route # Maximum depth: 476.261375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.947674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.657731; captureRadius = 10; duration = 101; initialDepth = 413.947674; finalDepth = 401.727766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.032798 # Actual altitude: 50.032798 # Commanded vehicle depth:413.947674 # Seafloor depth:-463.947674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.414997 meters # Minimum depth: 476.369273 meters looking forward 100.000000 meters along route # Maximum depth: 482.176676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.369273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.658504; captureRadius = 10; duration = 101; initialDepth = 426.369273; finalDepth = 413.947674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.245871 # Actual altitude: 50.245871 # Commanded vehicle depth:426.369273 # Seafloor depth:-476.615144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.415379 meters # Minimum depth: 486.291595 meters looking forward 100.000000 meters along route # Maximum depth: 505.534617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.291595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.659278; captureRadius = 10; duration = 101; initialDepth = 436.291595; finalDepth = 426.369273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.245871 # Actual altitude: 50.245871 # Commanded vehicle depth:436.291595 # Seafloor depth:-486.291595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.415761 meters # Minimum depth: 507.262806 meters looking forward 100.000000 meters along route # Maximum depth: 522.112098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.262806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.660051; captureRadius = 10; duration = 101; initialDepth = 457.262806; finalDepth = 436.291595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.262806 # Seafloor depth:-507.262806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.416143 meters # Minimum depth: 527.956393 meters looking forward 100.000000 meters along route # Maximum depth: 539.504433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.956393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.660824; captureRadius = 10; duration = 101; initialDepth = 477.956393; finalDepth = 457.262806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:477.956393 # Seafloor depth:-527.956393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.416525 meters # Minimum depth: 541.481317 meters looking forward 100.000000 meters along route # Maximum depth: 550.011521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.481317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.661597; captureRadius = 10; duration = 101; initialDepth = 491.481317; finalDepth = 477.956393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:491.481317 # Seafloor depth:-541.481317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.416906 meters # Minimum depth: 548.289489 meters looking forward 100.000000 meters along route # Maximum depth: 554.101517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.289489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.662371; captureRadius = 10; duration = 101; initialDepth = 498.289489; finalDepth = 491.481317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:498.289489 # Seafloor depth:-548.289489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.417288 meters # Minimum depth: 557.013503 meters looking forward 100.000000 meters along route # Maximum depth: 560.562266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.013503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.663144; captureRadius = 10; duration = 101; initialDepth = 507.013503; finalDepth = 498.289489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:507.013503 # Seafloor depth:-557.013503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.417670 meters # Minimum depth: 561.302365 meters looking forward 100.000000 meters along route # Maximum depth: 564.813005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.302365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.663917; captureRadius = 10; duration = 101; initialDepth = 511.302365; finalDepth = 507.013503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:511.302365 # Seafloor depth:-561.302365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.418052 meters # Minimum depth: 566.572855 meters looking forward 100.000000 meters along route # Maximum depth: 571.299364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.572855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.664691; captureRadius = 10; duration = 101; initialDepth = 516.572855; finalDepth = 511.302365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.572855 # Seafloor depth:-566.572855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.418434 meters # Minimum depth: 572.744154 meters looking forward 100.000000 meters along route # Maximum depth: 578.177216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.744154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.665464; captureRadius = 10; duration = 101; initialDepth = 522.744154; finalDepth = 516.572855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.744154 # Seafloor depth:-572.744154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.418815 meters # Minimum depth: 578.454085 meters looking forward 100.000000 meters along route # Maximum depth: 583.676574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.454085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.666237; captureRadius = 10; duration = 101; initialDepth = 528.454085; finalDepth = 522.744154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:528.454085 # Seafloor depth:-578.454085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.419198 meters # Minimum depth: 584.583120 meters looking forward 100.000000 meters along route # Maximum depth: 590.298966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.583120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.667011; captureRadius = 10; duration = 101; initialDepth = 534.583120; finalDepth = 528.454085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:534.58312 # Seafloor depth:-584.583120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.419579 meters # Minimum depth: 590.392621 meters looking forward 100.000000 meters along route # Maximum depth: 595.581974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.392621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.667784; captureRadius = 10; duration = 101; initialDepth = 540.392621; finalDepth = 534.583120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:540.392621 # Seafloor depth:-590.392621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.419961 meters # Minimum depth: 595.840190 meters looking forward 100.000000 meters along route # Maximum depth: 599.496851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.840190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.668557; captureRadius = 10; duration = 101; initialDepth = 545.840190; finalDepth = 540.392621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:545.84019 # Seafloor depth:-595.840190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.420343 meters # Minimum depth: 600.044327 meters looking forward 100.000000 meters along route # Maximum depth: 603.747371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.044327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.669330; captureRadius = 10; duration = 101; initialDepth = 550.044327; finalDepth = 545.840190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:550.044327 # Seafloor depth:-600.044327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.420725 meters # Minimum depth: 603.910776 meters looking forward 100.000000 meters along route # Maximum depth: 607.606116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.910776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.670104; captureRadius = 10; duration = 101; initialDepth = 553.910776; finalDepth = 550.044327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:553.910776 # Seafloor depth:-603.910776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.421107 meters # Minimum depth: 607.161677 meters looking forward 100.000000 meters along route # Maximum depth: 609.627142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.161677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.670877; captureRadius = 10; duration = 101; initialDepth = 557.161677; finalDepth = 553.910776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.269965 # Actual altitude: 52.269965 # Commanded vehicle depth:557.161677 # Seafloor depth:-609.431642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.421489 meters # Minimum depth: 602.994476 meters looking forward 100.000000 meters along route # Maximum depth: 607.722198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.994476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.671650; captureRadius = 10; duration = 101; initialDepth = 552.994476; finalDepth = 557.161677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7277220000001 # Actual altitude: 54.7277220000001 # Commanded vehicle depth:552.994476 # Seafloor depth:-607.722198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.421871 meters # Minimum depth: 599.689808 meters looking forward 100.000000 meters along route # Maximum depth: 613.949324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.689808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.672424; captureRadius = 10; duration = 101; initialDepth = 549.689808; finalDepth = 552.994476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7277220000001 # Actual altitude: 54.7277220000001 # Commanded vehicle depth:549.689808 # Seafloor depth:-601.311111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.422252 meters # Minimum depth: 617.136086 meters looking forward 100.000000 meters along route # Maximum depth: 621.705583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.136086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.673197; captureRadius = 10; duration = 101; initialDepth = 567.136086; finalDepth = 549.689808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.621303 # Actual altitude: 51.621303 # Commanded vehicle depth:567.136086 # Seafloor depth:-617.136086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.422635 meters # Minimum depth: 618.221744 meters looking forward 100.000000 meters along route # Maximum depth: 621.072477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.221744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.673970; captureRadius = 10; duration = 101; initialDepth = 568.221744; finalDepth = 567.136086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8507330000001 # Actual altitude: 52.8507330000001 # Commanded vehicle depth:568.221744 # Seafloor depth:-621.072477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.423017 meters # Minimum depth: 616.041392 meters looking forward 100.000000 meters along route # Maximum depth: 617.729987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.041392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.674744; captureRadius = 10; duration = 101; initialDepth = 566.041392; finalDepth = 568.221744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8507330000001 # Actual altitude: 52.8507330000001 # Commanded vehicle depth:566.041392 # Seafloor depth:-617.729987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.423398 meters # Minimum depth: 615.442119 meters looking forward 100.000000 meters along route # Maximum depth: 615.835100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.442119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.675517; captureRadius = 10; duration = 101; initialDepth = 565.442119; finalDepth = 566.041392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6885950000001 # Actual altitude: 51.6885950000001 # Commanded vehicle depth:565.442119 # Seafloor depth:-615.835100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.423781 meters # Minimum depth: 616.017315 meters looking forward 100.000000 meters along route # Maximum depth: 619.190381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.017315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.676290; captureRadius = 10; duration = 101; initialDepth = 566.017315; finalDepth = 565.442119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.392981 # Actual altitude: 50.392981 # Commanded vehicle depth:566.017315 # Seafloor depth:-616.017315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.424162 meters # Minimum depth: 620.291659 meters looking forward 100.000000 meters along route # Maximum depth: 634.501173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.291659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.677064; captureRadius = 10; duration = 101; initialDepth = 570.291659; finalDepth = 566.017315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:570.291659 # Seafloor depth:-620.291659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.424545 meters # Minimum depth: 635.450295 meters looking forward 100.000000 meters along route # Maximum depth: 655.711564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.450295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.677837; captureRadius = 10; duration = 101; initialDepth = 585.450295; finalDepth = 570.291659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:585.450295 # Seafloor depth:-635.450295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.424926 meters # Minimum depth: 660.743970 meters looking forward 100.000000 meters along route # Maximum depth: 676.056227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.743970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.678610; captureRadius = 10; duration = 101; initialDepth = 610.743970; finalDepth = 585.450295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:610.74397 # Seafloor depth:-660.743970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.425309 meters # Minimum depth: 676.769707 meters looking forward 100.000000 meters along route # Maximum depth: 680.395771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.769707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.679383; captureRadius = 10; duration = 101; initialDepth = 626.769707; finalDepth = 610.743970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.769707 # Seafloor depth:-676.769707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.425690 meters # Minimum depth: 678.190072 meters looking forward 100.000000 meters along route # Maximum depth: 681.938455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.190072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.680157; captureRadius = 10; duration = 101; initialDepth = 628.190072; finalDepth = 626.769707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.748383 # Actual altitude: 53.748383 # Commanded vehicle depth:628.190072 # Seafloor depth:-681.938455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.426073 meters # Minimum depth: 672.898618 meters looking forward 100.000000 meters along route # Maximum depth: 675.680857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.898618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.680930; captureRadius = 10; duration = 101; initialDepth = 622.898618; finalDepth = 628.190072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.748383 # Actual altitude: 53.748383 # Commanded vehicle depth:622.898618 # Seafloor depth:-675.503787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.426454 meters # Minimum depth: 675.160813 meters looking forward 100.000000 meters along route # Maximum depth: 697.421085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.160813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.681703; captureRadius = 10; duration = 101; initialDepth = 625.160813; finalDepth = 622.898618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6051689999999 # Actual altitude: 52.6051689999999 # Commanded vehicle depth:625.160813 # Seafloor depth:-675.160813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.426837 meters # Minimum depth: 705.166722 meters looking forward 100.000000 meters along route # Maximum depth: 710.610027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.166722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.682477; captureRadius = 10; duration = 101; initialDepth = 655.166722; finalDepth = 625.160813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:655.166722 # Seafloor depth:-705.166722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.427218 meters # Minimum depth: 703.836449 meters looking forward 100.000000 meters along route # Maximum depth: 707.772570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.836449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.683250; captureRadius = 10; duration = 101; initialDepth = 653.836449; finalDepth = 655.166722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.936121 # Actual altitude: 53.936121 # Commanded vehicle depth:653.836449 # Seafloor depth:-707.772570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.427601 meters # Minimum depth: 703.097473 meters looking forward 100.000000 meters along route # Maximum depth: 704.815189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.097473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.684023; captureRadius = 10; duration = 101; initialDepth = 653.097473; finalDepth = 653.836449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.936121 # Actual altitude: 53.936121 # Commanded vehicle depth:653.097473 # Seafloor depth:-704.494589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.427983 meters # Minimum depth: 699.781859 meters looking forward 100.000000 meters along route # Maximum depth: 702.774300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.781859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.684797; captureRadius = 10; duration = 101; initialDepth = 649.781859; finalDepth = 653.097473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.992441 # Actual altitude: 52.992441 # Commanded vehicle depth:649.781859 # Seafloor depth:-702.774300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.428365 meters # Minimum depth: 695.322214 meters looking forward 100.000000 meters along route # Maximum depth: 699.492093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.322214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.685570; captureRadius = 10; duration = 101; initialDepth = 645.322214; finalDepth = 649.781859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1698789999999 # Actual altitude: 54.1698789999999 # Commanded vehicle depth:645.322214 # Seafloor depth:-699.492093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.428747 meters # Minimum depth: 692.797949 meters looking forward 100.000000 meters along route # Maximum depth: 696.493408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.797949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.686343; captureRadius = 10; duration = 101; initialDepth = 642.797949; finalDepth = 645.322214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1698789999999 # Actual altitude: 54.1698789999999 # Commanded vehicle depth:642.797949 # Seafloor depth:-694.257128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.814072 meters # Minimum depth: 697.517633 meters looking forward 100.000000 meters along route # Maximum depth: 702.282123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.517633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.687116; captureRadius = 10; duration = 102; initialDepth = 647.517633; finalDepth = 642.797949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4591789999999 # Actual altitude: 51.4591789999999 # Commanded vehicle depth:647.517633 # Seafloor depth:-697.517633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.044568 meters # Minimum depth: 700.866550 meters looking forward 100.000000 meters along route # Maximum depth: 701.977337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.866550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292356; longitude = -117.687900; captureRadius = 10; duration = 100; initialDepth = 650.866550; finalDepth = 647.517633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:650.86655 # Seafloor depth:-700.866550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.429893 meters # Minimum depth: 701.340338 meters looking forward 100.000000 meters along route # Maximum depth: 707.787099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.340338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.688663; captureRadius = 10; duration = 101; initialDepth = 651.340338; finalDepth = 650.866550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:651.340338 # Seafloor depth:-701.340338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.430275 meters # Minimum depth: 707.994093 meters looking forward 100.000000 meters along route # Maximum depth: 714.805276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.994093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.689436; captureRadius = 10; duration = 101; initialDepth = 657.994093; finalDepth = 651.340338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:657.994093 # Seafloor depth:-707.994093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.430657 meters # Minimum depth: 715.763470 meters looking forward 100.000000 meters along route # Maximum depth: 721.875983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.763470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.690210; captureRadius = 10; duration = 101; initialDepth = 665.763470; finalDepth = 657.994093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:665.76347 # Seafloor depth:-715.763470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.754433 meters # Minimum depth: 722.414845 meters looking forward 100.000000 meters along route # Maximum depth: 731.621744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.414845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289787; longitude = -117.690983; captureRadius = 10; duration = 102; initialDepth = 672.414845; finalDepth = 665.763470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:672.414845 # Seafloor depth:-722.414845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.108029 meters # Minimum depth: 731.725110 meters looking forward 100.000000 meters along route # Maximum depth: 740.243770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.725110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289134; longitude = -117.691766; captureRadius = 10; duration = 100; initialDepth = 681.725110; finalDepth = 672.414845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:681.72511 # Seafloor depth:-731.725110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.431804 meters # Minimum depth: 741.458883 meters looking forward 100.000000 meters along route # Maximum depth: 751.761123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.458883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.692530; captureRadius = 10; duration = 101; initialDepth = 691.458883; finalDepth = 681.725110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:691.458883 # Seafloor depth:-741.458883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.432186 meters # Minimum depth: 752.199639 meters looking forward 100.000000 meters along route # Maximum depth: 761.458084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.199639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.693303; captureRadius = 10; duration = 101; initialDepth = 702.199639; finalDepth = 691.458883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:702.199639 # Seafloor depth:-752.199639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.432568 meters # Minimum depth: 763.165814 meters looking forward 100.000000 meters along route # Maximum depth: 764.597344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.165814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.694076; captureRadius = 10; duration = 101; initialDepth = 713.165814; finalDepth = 702.199639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:713.165814 # Seafloor depth:-763.165814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.694790 meters # Minimum depth: 756.636536 meters looking forward 100.000000 meters along route # Maximum depth: 762.381418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.636536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.694849; captureRadius = 10; duration = 102; initialDepth = 706.636536; finalDepth = 713.165814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7448820000001 # Actual altitude: 55.7448820000001 # Commanded vehicle depth:706.636536 # Seafloor depth:-762.381418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 222.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.171492 meters # Minimum depth: 756.177799 meters looking forward 100.000000 meters along route # Maximum depth: 757.813045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.177799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285913; longitude = -117.695632; captureRadius = 10; duration = 100; initialDepth = 706.177799; finalDepth = 706.636536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7448820000001 # Actual altitude: 55.7448820000001 # Commanded vehicle depth:706.177799 # Seafloor depth:-757.813045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 222.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.433715 meters # Minimum depth: 757.288508 meters looking forward 100.000000 meters along route # Maximum depth: 759.828009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.288508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.696396; captureRadius = 10; duration = 101; initialDepth = 707.288508; finalDepth = 706.177799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6352459999999 # Actual altitude: 51.6352459999999 # Commanded vehicle depth:707.288508 # Seafloor depth:-757.681712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.434097 meters # Minimum depth: 759.757007 meters looking forward 100.000000 meters along route # Maximum depth: 760.667965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.757007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284632; longitude = -117.697169; captureRadius = 10; duration = 101; initialDepth = 709.757007; finalDepth = 707.288508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.393204 # Actual altitude: 50.393204 # Commanded vehicle depth:709.757007 # Seafloor depth:-759.757007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.434479 meters # Minimum depth: 761.030180 meters looking forward 100.000000 meters along route # Maximum depth: 762.586411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.030180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283988; longitude = -117.697943; captureRadius = 10; duration = 101; initialDepth = 711.030180; finalDepth = 709.757007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.03018 # Seafloor depth:-761.030180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.635147 meters # Minimum depth: 762.759879 meters looking forward 100.000000 meters along route # Maximum depth: 764.429867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.759879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283344; longitude = -117.698716; captureRadius = 10; duration = 102; initialDepth = 712.759879; finalDepth = 711.030180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.759879 # Seafloor depth:-762.759879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.234958 meters # Minimum depth: 764.448726 meters looking forward 100.000000 meters along route # Maximum depth: 765.745236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.448726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282692; longitude = -117.699498; captureRadius = 10; duration = 100; initialDepth = 714.448726; finalDepth = 712.759879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.448726 # Seafloor depth:-764.448726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.435626 meters # Minimum depth: 765.978557 meters looking forward 100.000000 meters along route # Maximum depth: 767.368516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.978557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282055; longitude = -117.700263; captureRadius = 10; duration = 101; initialDepth = 715.978557; finalDepth = 714.448726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.978557 # Seafloor depth:-765.978557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.436008 meters # Minimum depth: 767.431907 meters looking forward 100.000000 meters along route # Maximum depth: 768.544755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.431907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281411; longitude = -117.701036; captureRadius = 10; duration = 101; initialDepth = 717.431907; finalDepth = 715.978557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:717.431907 # Seafloor depth:-767.431907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.436390 meters # Minimum depth: 768.842215 meters looking forward 100.000000 meters along route # Maximum depth: 770.115739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.842215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280766; longitude = -117.701809; captureRadius = 10; duration = 101; initialDepth = 718.842215; finalDepth = 717.431907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.842215 # Seafloor depth:-768.842215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 113.666009 meters # Minimum depth: 770.257715 meters looking forward 100.000000 meters along route # Maximum depth: 771.716086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.257715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280122; longitude = -117.702582; captureRadius = 10; duration = 113; initialDepth = 720.257715; finalDepth = 718.842215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.257715 # Seafloor depth:-770.257715 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 45.697606 meters # Minimum depth: 771.217332 meters looking forward 100.000000 meters along route # Maximum depth: 771.937256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.217332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279400; longitude = -117.703449; captureRadius = 10; duration = 45; # abortOnTimeout = True; initialDepth = 721.217332; finalDepth = 720.257715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.719924 # Actual altitude: 50.719924 # Commanded vehicle depth:721.217332 # Seafloor depth:-771.937256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.303758 meters # Minimum depth: 771.424531 meters looking forward 100.000000 meters along route # Maximum depth: 771.739848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.424531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279692; longitude = -117.703795; captureRadius = 10; duration = 104; initialDepth = 721.424531; finalDepth = 721.217332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.719924 # Actual altitude: 50.719924 # Commanded vehicle depth:721.424531 # Seafloor depth:-771.739848 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 14 at end of line 14 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.586081; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.586081; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1587; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 30.159981 meters # Minimum depth: 771.147618 meters looking forward 100.000000 meters along route # Maximum depth: 771.565160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.147618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280360; longitude = -117.704584; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 721.147618; finalDepth = 721.424531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3153170000001 # Actual altitude: 50.3153170000001 # Commanded vehicle depth:721.147618 # Seafloor depth:-771.274170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.638625 meters # Minimum depth: 769.609578 meters looking forward 100.000000 meters along route # Maximum depth: 770.993971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.609578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280552; longitude = -117.704354; captureRadius = 10; duration = 101; initialDepth = 719.609578; finalDepth = 721.147618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3843929999999 # Actual altitude: 51.3843929999999 # Commanded vehicle depth:719.609578 # Seafloor depth:-770.993971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.232968 meters # Minimum depth: 768.469234 meters looking forward 100.000000 meters along route # Maximum depth: 769.606824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.469234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281197; longitude = -117.703579; captureRadius = 10; duration = 101; initialDepth = 718.469234; finalDepth = 719.609578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3843929999999 # Actual altitude: 51.3843929999999 # Commanded vehicle depth:718.469234 # Seafloor depth:-769.606824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.435223 meters # Minimum depth: 766.923910 meters looking forward 100.000000 meters along route # Maximum depth: 768.243890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.923910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281840; longitude = -117.702807; captureRadius = 10; duration = 101; initialDepth = 716.923910; finalDepth = 718.469234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.31998 # Actual altitude: 51.31998 # Commanded vehicle depth:716.92391 # Seafloor depth:-768.243890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.434841 meters # Minimum depth: 765.698859 meters looking forward 100.000000 meters along route # Maximum depth: 766.847227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.698859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.702034; captureRadius = 10; duration = 101; initialDepth = 715.698859; finalDepth = 716.923910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.31998 # Actual altitude: 51.31998 # Commanded vehicle depth:715.698859 # Seafloor depth:-766.847227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.434458 meters # Minimum depth: 763.889873 meters looking forward 100.000000 meters along route # Maximum depth: 765.358837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.889873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.701261; captureRadius = 10; duration = 101; initialDepth = 713.889873; finalDepth = 715.698859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.468964 # Actual altitude: 51.468964 # Commanded vehicle depth:713.889873 # Seafloor depth:-765.358837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.576944 meters # Minimum depth: 761.674367 meters looking forward 100.000000 meters along route # Maximum depth: 763.693724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.674367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.700488; captureRadius = 10; duration = 101; initialDepth = 711.674367; finalDepth = 713.889873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.019357 # Actual altitude: 52.019357 # Commanded vehicle depth:711.674367 # Seafloor depth:-763.693724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.290827 meters # Minimum depth: 759.556905 meters looking forward 100.000000 meters along route # Maximum depth: 761.671156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.556905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284419; longitude = -117.699713; captureRadius = 10; duration = 101; initialDepth = 709.556905; finalDepth = 711.674367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.114251 # Actual altitude: 52.114251 # Commanded vehicle depth:709.556905 # Seafloor depth:-761.671156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.433312 meters # Minimum depth: 756.186198 meters looking forward 100.000000 meters along route # Maximum depth: 759.122923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.186198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.698941; captureRadius = 10; duration = 101; initialDepth = 706.186198; finalDepth = 709.556905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.936725 # Actual altitude: 52.936725 # Commanded vehicle depth:706.186198 # Seafloor depth:-759.122923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.432929 meters # Minimum depth: 756.460547 meters looking forward 100.000000 meters along route # Maximum depth: 757.458748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.460547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.698168; captureRadius = 10; duration = 101; initialDepth = 706.460547; finalDepth = 706.186198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.936725 # Actual altitude: 52.936725 # Commanded vehicle depth:706.460547 # Seafloor depth:-756.474225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.432548 meters # Minimum depth: 754.322221 meters looking forward 100.000000 meters along route # Maximum depth: 757.794985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.322221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.697394; captureRadius = 10; duration = 101; initialDepth = 704.322221; finalDepth = 706.460547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.449759 # Actual altitude: 53.449759 # Commanded vehicle depth:704.322221 # Seafloor depth:-757.771980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.515264 meters # Minimum depth: 754.157728 meters looking forward 100.000000 meters along route # Maximum depth: 755.860758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.157728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.696621; captureRadius = 10; duration = 101; initialDepth = 704.157728; finalDepth = 704.322221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.449759 # Actual altitude: 53.449759 # Commanded vehicle depth:704.157728 # Seafloor depth:-754.157728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.348684 meters # Minimum depth: 750.628733 meters looking forward 100.000000 meters along route # Maximum depth: 755.862008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.628733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287640; longitude = -117.695847; captureRadius = 10; duration = 101; initialDepth = 700.628733; finalDepth = 704.157728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2332749999999 # Actual altitude: 55.2332749999999 # Commanded vehicle depth:700.628733 # Seafloor depth:-755.862008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.431400 meters # Minimum depth: 735.875807 meters looking forward 100.000000 meters along route # Maximum depth: 749.060342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.875807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.695074; captureRadius = 10; duration = 101; initialDepth = 685.875807; finalDepth = 700.628733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.184535 # Actual altitude: 63.184535 # Commanded vehicle depth:685.875807 # Seafloor depth:-749.060342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 252.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.431019 meters # Minimum depth: 723.881945 meters looking forward 100.000000 meters along route # Maximum depth: 734.959707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.881945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.694301; captureRadius = 10; duration = 101; initialDepth = 673.881945; finalDepth = 685.875807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.184535 # Actual altitude: 63.184535 # Commanded vehicle depth:673.881945 # Seafloor depth:-734.959707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 252.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.430637 meters # Minimum depth: 718.469512 meters looking forward 100.000000 meters along route # Maximum depth: 721.600986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.469512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.693528; captureRadius = 10; duration = 101; initialDepth = 668.469512; finalDepth = 673.881945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.077762 # Actual altitude: 61.077762 # Commanded vehicle depth:668.469512 # Seafloor depth:-721.600986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.453588 meters # Minimum depth: 715.180544 meters looking forward 100.000000 meters along route # Maximum depth: 718.834919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.180544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.692755; captureRadius = 10; duration = 101; initialDepth = 665.180544; finalDepth = 668.469512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2632189999999 # Actual altitude: 53.2632189999999 # Commanded vehicle depth:665.180544 # Seafloor depth:-718.443763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.406538 meters # Minimum depth: 709.353761 meters looking forward 100.000000 meters along route # Maximum depth: 715.180851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.353761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.691981; captureRadius = 10; duration = 101; initialDepth = 659.353761; finalDepth = 665.180544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.82709 # Actual altitude: 55.82709 # Commanded vehicle depth:659.353761 # Seafloor depth:-715.180851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.429490 meters # Minimum depth: 694.836836 meters looking forward 100.000000 meters along route # Maximum depth: 707.048433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.836836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.691208; captureRadius = 10; duration = 101; initialDepth = 644.836836; finalDepth = 659.353761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2115970000001 # Actual altitude: 62.2115970000001 # Commanded vehicle depth:644.836836 # Seafloor depth:-707.048433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.429108 meters # Minimum depth: 686.966423 meters looking forward 100.000000 meters along route # Maximum depth: 694.559288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.966423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.690435; captureRadius = 10; duration = 101; initialDepth = 636.966423; finalDepth = 644.836836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2115970000001 # Actual altitude: 62.2115970000001 # Commanded vehicle depth:636.966423 # Seafloor depth:-694.559288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.428726 meters # Minimum depth: 685.640324 meters looking forward 100.000000 meters along route # Maximum depth: 689.470989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.640324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.689661; captureRadius = 10; duration = 101; initialDepth = 635.640324; finalDepth = 636.966423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5928650000001 # Actual altitude: 57.5928650000001 # Commanded vehicle depth:635.640324 # Seafloor depth:-689.109556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.428343 meters # Minimum depth: 684.647930 meters looking forward 100.000000 meters along route # Maximum depth: 686.658698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.647930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.688888; captureRadius = 10; duration = 101; initialDepth = 634.647930; finalDepth = 635.640324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.469232 # Actual altitude: 53.469232 # Commanded vehicle depth:634.64793 # Seafloor depth:-684.647930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.427962 meters # Minimum depth: 686.660453 meters looking forward 100.000000 meters along route # Maximum depth: 690.734391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.660453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.688115; captureRadius = 10; duration = 101; initialDepth = 636.660453; finalDepth = 634.647930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:636.660453 # Seafloor depth:-686.660453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.427579 meters # Minimum depth: 690.965525 meters looking forward 100.000000 meters along route # Maximum depth: 696.093331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.965525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.687342; captureRadius = 10; duration = 101; initialDepth = 640.965525; finalDepth = 636.660453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:640.965525 # Seafloor depth:-690.965525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.427197 meters # Minimum depth: 696.601015 meters looking forward 100.000000 meters along route # Maximum depth: 698.241525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.601015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.686568; captureRadius = 10; duration = 101; initialDepth = 646.601015; finalDepth = 640.965525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:646.601015 # Seafloor depth:-696.601015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.426816 meters # Minimum depth: 697.463517 meters looking forward 100.000000 meters along route # Maximum depth: 701.265398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.463517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.685795; captureRadius = 10; duration = 101; initialDepth = 647.463517; finalDepth = 646.601015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:647.463517 # Seafloor depth:-697.463517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.426433 meters # Minimum depth: 687.697669 meters looking forward 100.000000 meters along route # Maximum depth: 700.432297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.697669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.685022; captureRadius = 10; duration = 101; initialDepth = 637.697669; finalDepth = 647.463517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7346279999999 # Actual altitude: 62.7346279999999 # Commanded vehicle depth:637.697669 # Seafloor depth:-700.432297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 250.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.426051 meters # Minimum depth: 675.289858 meters looking forward 100.000000 meters along route # Maximum depth: 687.680755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.289858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.684248; captureRadius = 10; duration = 101; initialDepth = 625.289858; finalDepth = 637.697669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7346279999999 # Actual altitude: 62.7346279999999 # Commanded vehicle depth:625.289858 # Seafloor depth:-687.680755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 250.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.425669 meters # Minimum depth: 669.328003 meters looking forward 100.000000 meters along route # Maximum depth: 673.413085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.328003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.683475; captureRadius = 10; duration = 101; initialDepth = 619.328003; finalDepth = 625.289858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.390897 # Actual altitude: 62.390897 # Commanded vehicle depth:619.328003 # Seafloor depth:-673.413085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.425287 meters # Minimum depth: 670.623390 meters looking forward 100.000000 meters along route # Maximum depth: 671.226743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.623390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.682702; captureRadius = 10; duration = 101; initialDepth = 620.623390; finalDepth = 619.328003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0850820000001 # Actual altitude: 54.0850820000001 # Commanded vehicle depth:620.62339 # Seafloor depth:-670.849801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.424905 meters # Minimum depth: 672.226973 meters looking forward 100.000000 meters along route # Maximum depth: 673.955909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.226973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.681928; captureRadius = 10; duration = 101; initialDepth = 622.226973; finalDepth = 620.623390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.524909 # Actual altitude: 50.524909 # Commanded vehicle depth:622.226973 # Seafloor depth:-672.751882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.424523 meters # Minimum depth: 663.183620 meters looking forward 100.000000 meters along route # Maximum depth: 674.179775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.183620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.681155; captureRadius = 10; duration = 101; initialDepth = 613.183620; finalDepth = 622.226973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.885506 # Actual altitude: 59.885506 # Commanded vehicle depth:613.18362 # Seafloor depth:-673.069126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 239.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.424140 meters # Minimum depth: 647.214015 meters looking forward 100.000000 meters along route # Maximum depth: 663.160131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.214015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.680382; captureRadius = 10; duration = 101; initialDepth = 597.214015; finalDepth = 613.183620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.946116 # Actual altitude: 65.946116 # Commanded vehicle depth:597.214015 # Seafloor depth:-663.160131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.423759 meters # Minimum depth: 621.103196 meters looking forward 100.000000 meters along route # Maximum depth: 643.584631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.103196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.679609; captureRadius = 10; duration = 101; initialDepth = 571.103196; finalDepth = 597.214015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4814349999999 # Actual altitude: 72.4814349999999 # Commanded vehicle depth:571.103196 # Seafloor depth:-643.584631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 289.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.423377 meters # Minimum depth: 609.561438 meters looking forward 100.000000 meters along route # Maximum depth: 619.655200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.561438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.678835; captureRadius = 10; duration = 101; initialDepth = 559.561438; finalDepth = 571.103196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4814349999999 # Actual altitude: 72.4814349999999 # Commanded vehicle depth:559.561438 # Seafloor depth:-619.655200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 289.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.422995 meters # Minimum depth: 610.805910 meters looking forward 100.000000 meters along route # Maximum depth: 613.527552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.805910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.678062; captureRadius = 10; duration = 101; initialDepth = 560.805910; finalDepth = 559.561438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0937620000001 # Actual altitude: 60.0937620000001 # Commanded vehicle depth:560.80591 # Seafloor depth:-610.805910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.422613 meters # Minimum depth: 612.903073 meters looking forward 100.000000 meters along route # Maximum depth: 614.033130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.903073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.677289; captureRadius = 10; duration = 101; initialDepth = 562.903073; finalDepth = 560.805910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.854498 # Actual altitude: 50.854498 # Commanded vehicle depth:562.903073 # Seafloor depth:-613.757571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.422231 meters # Minimum depth: 614.034839 meters looking forward 100.000000 meters along route # Maximum depth: 615.982846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.034839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.676515; captureRadius = 10; duration = 101; initialDepth = 564.034839; finalDepth = 562.903073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.854498 # Actual altitude: 50.854498 # Commanded vehicle depth:564.034839 # Seafloor depth:-614.034839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.421849 meters # Minimum depth: 617.236005 meters looking forward 100.000000 meters along route # Maximum depth: 620.583479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.236005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.675742; captureRadius = 10; duration = 101; initialDepth = 567.236005; finalDepth = 564.034839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:567.236005 # Seafloor depth:-617.236005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.421466 meters # Minimum depth: 620.629716 meters looking forward 100.000000 meters along route # Maximum depth: 623.117415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.629716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.674969; captureRadius = 10; duration = 101; initialDepth = 570.629716; finalDepth = 567.236005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:570.629716 # Seafloor depth:-620.629716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.421085 meters # Minimum depth: 620.110396 meters looking forward 100.000000 meters along route # Maximum depth: 622.429875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.110396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.674195; captureRadius = 10; duration = 101; initialDepth = 570.110396; finalDepth = 570.629716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2888899999999 # Actual altitude: 52.2888899999999 # Commanded vehicle depth:570.110396 # Seafloor depth:-622.399286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.420703 meters # Minimum depth: 620.866732 meters looking forward 100.000000 meters along route # Maximum depth: 623.038383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.866732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.673422; captureRadius = 10; duration = 101; initialDepth = 570.866732; finalDepth = 570.110396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2888899999999 # Actual altitude: 52.2888899999999 # Commanded vehicle depth:570.866732 # Seafloor depth:-621.213222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.420321 meters # Minimum depth: 623.077010 meters looking forward 100.000000 meters along route # Maximum depth: 626.116478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.077010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.672649; captureRadius = 10; duration = 101; initialDepth = 573.077010; finalDepth = 570.866732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.34649 # Actual altitude: 50.34649 # Commanded vehicle depth:573.07701 # Seafloor depth:-623.077010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.419940 meters # Minimum depth: 614.621262 meters looking forward 100.000000 meters along route # Maximum depth: 623.345674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.621262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.671876; captureRadius = 10; duration = 101; initialDepth = 564.621262; finalDepth = 573.077010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.724412 # Actual altitude: 58.724412 # Commanded vehicle depth:564.621262 # Seafloor depth:-623.345674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 234.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.419557 meters # Minimum depth: 607.695483 meters looking forward 100.000000 meters along route # Maximum depth: 614.391393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.695483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.671102; captureRadius = 10; duration = 101; initialDepth = 557.695483; finalDepth = 564.621262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.724412 # Actual altitude: 58.724412 # Commanded vehicle depth:557.695483 # Seafloor depth:-614.391393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 234.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.419175 meters # Minimum depth: 601.513832 meters looking forward 100.000000 meters along route # Maximum depth: 606.259422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.513832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.670329; captureRadius = 10; duration = 101; initialDepth = 551.513832; finalDepth = 557.695483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.69591 # Actual altitude: 56.69591 # Commanded vehicle depth:551.513832 # Seafloor depth:-606.259422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.418793 meters # Minimum depth: 595.493872 meters looking forward 100.000000 meters along route # Maximum depth: 600.757039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.493872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.669556; captureRadius = 10; duration = 101; initialDepth = 545.493872; finalDepth = 551.513832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.263167 # Actual altitude: 55.263167 # Commanded vehicle depth:545.493872 # Seafloor depth:-600.757039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.418412 meters # Minimum depth: 591.873410 meters looking forward 100.000000 meters along route # Maximum depth: 595.484991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.873410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.668782; captureRadius = 10; duration = 101; initialDepth = 541.873410; finalDepth = 545.493872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.263167 # Actual altitude: 55.263167 # Commanded vehicle depth:541.87341 # Seafloor depth:-595.484991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.418030 meters # Minimum depth: 588.473803 meters looking forward 100.000000 meters along route # Maximum depth: 591.327828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.473803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.668009; captureRadius = 10; duration = 101; initialDepth = 538.473803; finalDepth = 541.873410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.611581 # Actual altitude: 53.611581 # Commanded vehicle depth:538.473803 # Seafloor depth:-591.225729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.417647 meters # Minimum depth: 582.291978 meters looking forward 100.000000 meters along route # Maximum depth: 588.095480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.291978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.667236; captureRadius = 10; duration = 101; initialDepth = 532.291978; finalDepth = 538.473803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.803502 # Actual altitude: 55.803502 # Commanded vehicle depth:532.291978 # Seafloor depth:-588.095480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.417266 meters # Minimum depth: 577.925277 meters looking forward 100.000000 meters along route # Maximum depth: 580.507571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.925277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.666462; captureRadius = 10; duration = 101; initialDepth = 527.925277; finalDepth = 532.291978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.803502 # Actual altitude: 55.803502 # Commanded vehicle depth:527.925277 # Seafloor depth:-580.507571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.416884 meters # Minimum depth: 573.504375 meters looking forward 100.000000 meters along route # Maximum depth: 578.758899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.504375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.665689; captureRadius = 10; duration = 101; initialDepth = 523.504375; finalDepth = 527.925277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.219046 # Actual altitude: 54.219046 # Commanded vehicle depth:523.504375 # Seafloor depth:-577.723421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.416502 meters # Minimum depth: 564.963015 meters looking forward 100.000000 meters along route # Maximum depth: 573.474566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.963015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.664916; captureRadius = 10; duration = 101; initialDepth = 514.963015; finalDepth = 523.504375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5115509999999 # Actual altitude: 58.5115509999999 # Commanded vehicle depth:514.963015 # Seafloor depth:-573.474566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 234.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.416120 meters # Minimum depth: 558.327880 meters looking forward 100.000000 meters along route # Maximum depth: 563.277578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.327880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.664143; captureRadius = 10; duration = 101; initialDepth = 508.327880; finalDepth = 514.963015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5115509999999 # Actual altitude: 58.5115509999999 # Commanded vehicle depth:508.32788 # Seafloor depth:-563.277578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 234.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.415739 meters # Minimum depth: 552.721790 meters looking forward 100.000000 meters along route # Maximum depth: 558.084496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.721790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.663369; captureRadius = 10; duration = 101; initialDepth = 502.721790; finalDepth = 508.327880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3627059999999 # Actual altitude: 55.3627059999999 # Commanded vehicle depth:502.72179 # Seafloor depth:-558.084496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.415356 meters # Minimum depth: 537.913180 meters looking forward 100.000000 meters along route # Maximum depth: 551.159476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.913180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.662596; captureRadius = 10; duration = 101; initialDepth = 487.913180; finalDepth = 502.721790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.246296 # Actual altitude: 63.246296 # Commanded vehicle depth:487.91318 # Seafloor depth:-551.159476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 252.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.414975 meters # Minimum depth: 517.148097 meters looking forward 100.000000 meters along route # Maximum depth: 535.953652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.148097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.661823; captureRadius = 10; duration = 101; initialDepth = 467.148097; finalDepth = 487.913180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.805555 # Actual altitude: 68.805555 # Commanded vehicle depth:467.148097 # Seafloor depth:-535.953652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.52; MB_Bottom_Detect_Filter_Max_Range = 275.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.414593 meters # Minimum depth: 503.792094 meters looking forward 100.000000 meters along route # Maximum depth: 517.063585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.792094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.661049; captureRadius = 10; duration = 101; initialDepth = 453.792094; finalDepth = 467.148097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.805555 # Actual altitude: 68.805555 # Commanded vehicle depth:453.792094 # Seafloor depth:-517.063585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.52; MB_Bottom_Detect_Filter_Max_Range = 275.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.414211 meters # Minimum depth: 485.943707 meters looking forward 100.000000 meters along route # Maximum depth: 500.517132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.943707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.660276; captureRadius = 10; duration = 101; initialDepth = 435.943707; finalDepth = 453.792094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.573425 # Actual altitude: 64.573425 # Commanded vehicle depth:435.943707 # Seafloor depth:-500.517132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.413829 meters # Minimum depth: 475.728378 meters looking forward 100.000000 meters along route # Maximum depth: 485.099444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.728378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.659503; captureRadius = 10; duration = 101; initialDepth = 425.728378; finalDepth = 435.943707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.573425 # Actual altitude: 64.573425 # Commanded vehicle depth:425.728378 # Seafloor depth:-485.099444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.413448 meters # Minimum depth: 466.374082 meters looking forward 100.000000 meters along route # Maximum depth: 471.055423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.374082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.658729; captureRadius = 10; duration = 101; initialDepth = 416.374082; finalDepth = 425.728378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.371066 # Actual altitude: 59.371066 # Commanded vehicle depth:416.374082 # Seafloor depth:-471.055423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 237.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.413066 meters # Minimum depth: 459.753245 meters looking forward 100.000000 meters along route # Maximum depth: 465.690293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.753245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.657956; captureRadius = 10; duration = 101; initialDepth = 409.753245; finalDepth = 416.374082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.937048 # Actual altitude: 55.937048 # Commanded vehicle depth:409.753245 # Seafloor depth:-465.690293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.412684 meters # Minimum depth: 457.023900 meters looking forward 100.000000 meters along route # Maximum depth: 459.722807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.023900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.657183; captureRadius = 10; duration = 101; initialDepth = 407.023900; finalDepth = 409.753245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.937048 # Actual altitude: 55.937048 # Commanded vehicle depth:407.0239 # Seafloor depth:-459.722807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.412302 meters # Minimum depth: 450.562554 meters looking forward 100.000000 meters along route # Maximum depth: 455.696950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.562554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.656410; captureRadius = 10; duration = 101; initialDepth = 400.562554; finalDepth = 407.023900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.134396 # Actual altitude: 55.134396 # Commanded vehicle depth:400.562554 # Seafloor depth:-455.696950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.411920 meters # Minimum depth: 443.830411 meters looking forward 100.000000 meters along route # Maximum depth: 450.312069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.830411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.655636; captureRadius = 10; duration = 101; initialDepth = 393.830411; finalDepth = 400.562554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.481658 # Actual altitude: 56.481658 # Commanded vehicle depth:393.830411 # Seafloor depth:-450.312069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.411539 meters # Minimum depth: 435.215062 meters looking forward 100.000000 meters along route # Maximum depth: 445.242991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.215062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.654863; captureRadius = 10; duration = 101; initialDepth = 385.215062; finalDepth = 393.830411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.027929 # Actual altitude: 60.027929 # Commanded vehicle depth:385.215062 # Seafloor depth:-445.242991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.411157 meters # Minimum depth: 428.657296 meters looking forward 100.000000 meters along route # Maximum depth: 434.472604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.657296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.654090; captureRadius = 10; duration = 101; initialDepth = 378.657296; finalDepth = 385.215062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.027929 # Actual altitude: 60.027929 # Commanded vehicle depth:378.657296 # Seafloor depth:-434.472604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.410775 meters # Minimum depth: 416.739718 meters looking forward 100.000000 meters along route # Maximum depth: 432.686720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.739718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.653316; captureRadius = 10; duration = 101; initialDepth = 366.739718; finalDepth = 378.657296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.947002 # Actual altitude: 65.947002 # Commanded vehicle depth:366.739718 # Seafloor depth:-432.686720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.410394 meters # Minimum depth: 405.577313 meters looking forward 100.000000 meters along route # Maximum depth: 414.492106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.577313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.652543; captureRadius = 10; duration = 101; initialDepth = 355.577313; finalDepth = 366.739718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.947002 # Actual altitude: 65.947002 # Commanded vehicle depth:355.577313 # Seafloor depth:-414.492106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.410011 meters # Minimum depth: 394.822861 meters looking forward 100.000000 meters along route # Maximum depth: 404.604936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.822861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.651770; captureRadius = 10; duration = 101; initialDepth = 344.822861; finalDepth = 355.577313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.782075 # Actual altitude: 59.782075 # Commanded vehicle depth:344.822861 # Seafloor depth:-404.604936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 239.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.409630 meters # Minimum depth: 382.065298 meters looking forward 100.000000 meters along route # Maximum depth: 392.746309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.065298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.650996; captureRadius = 10; duration = 101; initialDepth = 332.065298; finalDepth = 344.822861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.681011 # Actual altitude: 60.681011 # Commanded vehicle depth:332.065298 # Seafloor depth:-392.746309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 242.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.409249 meters # Minimum depth: 359.920172 meters looking forward 100.000000 meters along route # Maximum depth: 379.820155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.920172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325655; longitude = -117.650223; captureRadius = 10; duration = 101; initialDepth = 309.920172; finalDepth = 332.065298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.899983 # Actual altitude: 69.899983 # Commanded vehicle depth:309.920172 # Seafloor depth:-379.820155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 279.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 114.464561 meters # Minimum depth: 340.734571 meters looking forward 100.000000 meters along route # Maximum depth: 359.876939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.734571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326300; longitude = -117.649450; captureRadius = 10; duration = 114; initialDepth = 290.734571; finalDepth = 309.920172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.899983 # Actual altitude: 69.899983 # Commanded vehicle depth:290.734571 # Seafloor depth:-359.876939 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 279.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 30.831146 meters # Minimum depth: 338.967354 meters looking forward 100.000000 meters along route # Maximum depth: 349.360866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.967354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327027; longitude = -117.648577; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 288.967354; finalDepth = 290.734571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.142368 # Actual altitude: 69.142368 # Commanded vehicle depth:288.967354 # Seafloor depth:-338.967354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.66; MB_Bottom_Detect_Filter_Max_Range = 276.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.129134 meters # Minimum depth: 350.286110 meters looking forward 100.000000 meters along route # Maximum depth: 396.708746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.286110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327224; longitude = -117.648810; captureRadius = 10; duration = 119; initialDepth = 300.286110; finalDepth = 288.967354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:300.28611 # Seafloor depth:-350.286110 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 12 at end of line 12 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.572210; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.572210; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 768; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 28.932475 meters # Minimum depth: 373.301576 meters looking forward 100.000000 meters along route # Maximum depth: 398.724387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.301576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327987; longitude = -117.649712; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 323.301576; finalDepth = 300.286110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.916426 # Actual altitude: 74.916426 # Commanded vehicle depth:323.301576 # Seafloor depth:-398.218002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 299.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.408390 meters # Minimum depth: 398.924844 meters looking forward 100.000000 meters along route # Maximum depth: 402.591309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.924844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327803; longitude = -117.649933; captureRadius = 10; duration = 101; initialDepth = 348.924844; finalDepth = 323.301576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.916426 # Actual altitude: 74.916426 # Commanded vehicle depth:348.924844 # Seafloor depth:-398.924844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 299.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.408771 meters # Minimum depth: 404.939275 meters looking forward 100.000000 meters along route # Maximum depth: 418.393912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.939275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327159; longitude = -117.650706; captureRadius = 10; duration = 101; initialDepth = 354.939275; finalDepth = 348.924844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.105318 # Actual altitude: 50.105318 # Commanded vehicle depth:354.939275 # Seafloor depth:-405.044593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.409154 meters # Minimum depth: 425.064790 meters looking forward 100.000000 meters along route # Maximum depth: 439.495915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.064790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326514; longitude = -117.651479; captureRadius = 10; duration = 101; initialDepth = 375.064790; finalDepth = 354.939275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.105318 # Actual altitude: 50.105318 # Commanded vehicle depth:375.06479 # Seafloor depth:-425.064790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.409535 meters # Minimum depth: 439.534198 meters looking forward 100.000000 meters along route # Maximum depth: 455.596245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.534198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.652253; captureRadius = 10; duration = 101; initialDepth = 389.534198; finalDepth = 375.064790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:389.534198 # Seafloor depth:-439.534198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.409917 meters # Minimum depth: 457.816828 meters looking forward 100.000000 meters along route # Maximum depth: 469.525095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.816828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.653026; captureRadius = 10; duration = 101; initialDepth = 407.816828; finalDepth = 389.534198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:407.816828 # Seafloor depth:-457.816828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.410298 meters # Minimum depth: 471.384049 meters looking forward 100.000000 meters along route # Maximum depth: 476.575352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.384049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.653799; captureRadius = 10; duration = 101; initialDepth = 421.384049; finalDepth = 407.816828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:421.384049 # Seafloor depth:-471.384049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.410681 meters # Minimum depth: 478.221414 meters looking forward 100.000000 meters along route # Maximum depth: 495.290422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.221414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.654572; captureRadius = 10; duration = 101; initialDepth = 428.221414; finalDepth = 421.384049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:428.221414 # Seafloor depth:-478.221414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.411062 meters # Minimum depth: 495.555055 meters looking forward 100.000000 meters along route # Maximum depth: 509.678180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.555055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.655346; captureRadius = 10; duration = 101; initialDepth = 445.555055; finalDepth = 428.221414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:445.555055 # Seafloor depth:-495.555055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.411444 meters # Minimum depth: 509.817055 meters looking forward 100.000000 meters along route # Maximum depth: 517.776859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.817055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.656119; captureRadius = 10; duration = 101; initialDepth = 459.817055; finalDepth = 445.555055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.817055 # Seafloor depth:-509.817055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.411825 meters # Minimum depth: 519.252739 meters looking forward 100.000000 meters along route # Maximum depth: 524.140973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.252739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.656892; captureRadius = 10; duration = 101; initialDepth = 469.252739; finalDepth = 459.817055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.252739 # Seafloor depth:-519.252739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.412208 meters # Minimum depth: 524.052908 meters looking forward 100.000000 meters along route # Maximum depth: 525.915315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.052908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.657666; captureRadius = 10; duration = 101; initialDepth = 474.052908; finalDepth = 469.252739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:474.052908 # Seafloor depth:-524.052908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.412589 meters # Minimum depth: 523.748310 meters looking forward 100.000000 meters along route # Maximum depth: 525.350082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.748310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.658439; captureRadius = 10; duration = 101; initialDepth = 473.748310; finalDepth = 474.052908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.465554 # Actual altitude: 51.465554 # Commanded vehicle depth:473.74831 # Seafloor depth:-525.213864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.412971 meters # Minimum depth: 515.402792 meters looking forward 100.000000 meters along route # Maximum depth: 524.797568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.402792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.659212; captureRadius = 10; duration = 101; initialDepth = 465.402792; finalDepth = 473.748310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.394776 # Actual altitude: 59.394776 # Commanded vehicle depth:465.402792 # Seafloor depth:-524.797568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.413353 meters # Minimum depth: 515.488680 meters looking forward 100.000000 meters along route # Maximum depth: 525.454980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.488680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.659986; captureRadius = 10; duration = 101; initialDepth = 465.488680; finalDepth = 465.402792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.394776 # Actual altitude: 59.394776 # Commanded vehicle depth:465.48868 # Seafloor depth:-515.488680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.413735 meters # Minimum depth: 528.411397 meters looking forward 100.000000 meters along route # Maximum depth: 542.135863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.411397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.660759; captureRadius = 10; duration = 101; initialDepth = 478.411397; finalDepth = 465.488680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.411397 # Seafloor depth:-528.411397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.414117 meters # Minimum depth: 542.878675 meters looking forward 100.000000 meters along route # Maximum depth: 549.281801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.878675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.661532; captureRadius = 10; duration = 101; initialDepth = 492.878675; finalDepth = 478.411397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:492.878675 # Seafloor depth:-542.878675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.414498 meters # Minimum depth: 550.396259 meters looking forward 100.000000 meters along route # Maximum depth: 560.980012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.396259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.662305; captureRadius = 10; duration = 101; initialDepth = 500.396259; finalDepth = 492.878675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:500.396259 # Seafloor depth:-550.396259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.414880 meters # Minimum depth: 562.099571 meters looking forward 100.000000 meters along route # Maximum depth: 569.044171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.099571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.663079; captureRadius = 10; duration = 101; initialDepth = 512.099571; finalDepth = 500.396259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:512.099571 # Seafloor depth:-562.099571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.415262 meters # Minimum depth: 568.581444 meters looking forward 100.000000 meters along route # Maximum depth: 570.215665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.581444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.663852; captureRadius = 10; duration = 101; initialDepth = 518.581444; finalDepth = 512.099571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5005709999999 # Actual altitude: 50.5005709999999 # Commanded vehicle depth:518.581444 # Seafloor depth:-569.082015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.415644 meters # Minimum depth: 569.808114 meters looking forward 100.000000 meters along route # Maximum depth: 573.053304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.808114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.664625; captureRadius = 10; duration = 101; initialDepth = 519.808114; finalDepth = 518.581444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5005709999999 # Actual altitude: 50.5005709999999 # Commanded vehicle depth:519.808114 # Seafloor depth:-569.808114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.416026 meters # Minimum depth: 572.315477 meters looking forward 100.000000 meters along route # Maximum depth: 576.550817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.315477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.665399; captureRadius = 10; duration = 101; initialDepth = 522.315477; finalDepth = 519.808114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.315477 # Seafloor depth:-572.315477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.416408 meters # Minimum depth: 577.524339 meters looking forward 100.000000 meters along route # Maximum depth: 580.119229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.524339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.666172; captureRadius = 10; duration = 101; initialDepth = 527.524339; finalDepth = 522.315477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8697549999999 # Actual altitude: 50.8697549999999 # Commanded vehicle depth:527.524339 # Seafloor depth:-578.394094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.416790 meters # Minimum depth: 580.117447 meters looking forward 100.000000 meters along route # Maximum depth: 582.510507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.117447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.666945; captureRadius = 10; duration = 101; initialDepth = 530.117447; finalDepth = 527.524339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8697549999999 # Actual altitude: 50.8697549999999 # Commanded vehicle depth:530.117447 # Seafloor depth:-580.117447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.417171 meters # Minimum depth: 582.625890 meters looking forward 100.000000 meters along route # Maximum depth: 587.527473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.625890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.667719; captureRadius = 10; duration = 101; initialDepth = 532.625890; finalDepth = 530.117447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:532.62589 # Seafloor depth:-582.625890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.417554 meters # Minimum depth: 588.201029 meters looking forward 100.000000 meters along route # Maximum depth: 590.304540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.201029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.668492; captureRadius = 10; duration = 101; initialDepth = 538.201029; finalDepth = 532.625890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:538.201029 # Seafloor depth:-588.201029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.417935 meters # Minimum depth: 590.430563 meters looking forward 100.000000 meters along route # Maximum depth: 592.669503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.430563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.669265; captureRadius = 10; duration = 101; initialDepth = 540.430563; finalDepth = 538.201029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:540.430563 # Seafloor depth:-590.430563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.418318 meters # Minimum depth: 593.934562 meters looking forward 100.000000 meters along route # Maximum depth: 595.711468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.934562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.670038; captureRadius = 10; duration = 101; initialDepth = 543.934562; finalDepth = 540.430563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.934562 # Seafloor depth:-593.934562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.418699 meters # Minimum depth: 597.048262 meters looking forward 100.000000 meters along route # Maximum depth: 605.759375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.048262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.670812; captureRadius = 10; duration = 101; initialDepth = 547.048262; finalDepth = 543.934562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:547.048262 # Seafloor depth:-597.048262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.419081 meters # Minimum depth: 605.819217 meters looking forward 100.000000 meters along route # Maximum depth: 614.453152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.819217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.671585; captureRadius = 10; duration = 101; initialDepth = 555.819217; finalDepth = 547.048262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:555.819217 # Seafloor depth:-605.819217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.419464 meters # Minimum depth: 615.163928 meters looking forward 100.000000 meters along route # Maximum depth: 620.242785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.163928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.672358; captureRadius = 10; duration = 101; initialDepth = 565.163928; finalDepth = 555.819217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:565.163928 # Seafloor depth:-615.163928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.419845 meters # Minimum depth: 618.163576 meters looking forward 100.000000 meters along route # Maximum depth: 622.958074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.163576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.673132; captureRadius = 10; duration = 101; initialDepth = 568.163576; finalDepth = 565.163928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.245764 # Actual altitude: 52.245764 # Commanded vehicle depth:568.163576 # Seafloor depth:-620.409340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.420227 meters # Minimum depth: 613.553435 meters looking forward 100.000000 meters along route # Maximum depth: 615.721046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.553435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.673905; captureRadius = 10; duration = 101; initialDepth = 563.553435; finalDepth = 568.163576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.245764 # Actual altitude: 52.245764 # Commanded vehicle depth:563.553435 # Seafloor depth:-615.721046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.420609 meters # Minimum depth: 613.085206 meters looking forward 100.000000 meters along route # Maximum depth: 626.647592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.085206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.674678; captureRadius = 10; duration = 101; initialDepth = 563.085206; finalDepth = 563.553435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.167611 # Actual altitude: 52.167611 # Commanded vehicle depth:563.085206 # Seafloor depth:-613.565893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.420991 meters # Minimum depth: 623.218746 meters looking forward 100.000000 meters along route # Maximum depth: 626.635383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.218746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.675451; captureRadius = 10; duration = 101; initialDepth = 573.218746; finalDepth = 563.085206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.416637 # Actual altitude: 53.416637 # Commanded vehicle depth:573.218746 # Seafloor depth:-626.635383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.421373 meters # Minimum depth: 620.007527 meters looking forward 100.000000 meters along route # Maximum depth: 623.490601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.007527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.676225; captureRadius = 10; duration = 101; initialDepth = 570.007527; finalDepth = 573.218746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.416637 # Actual altitude: 53.416637 # Commanded vehicle depth:570.007527 # Seafloor depth:-623.155273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.421755 meters # Minimum depth: 615.025394 meters looking forward 100.000000 meters along route # Maximum depth: 619.708622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.025394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.676998; captureRadius = 10; duration = 101; initialDepth = 565.025394; finalDepth = 570.007527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.683228 # Actual altitude: 54.683228 # Commanded vehicle depth:565.025394 # Seafloor depth:-619.708622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.422137 meters # Minimum depth: 613.203363 meters looking forward 100.000000 meters along route # Maximum depth: 613.923712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.203363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.677771; captureRadius = 10; duration = 101; initialDepth = 563.203363; finalDepth = 565.025394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.683228 # Actual altitude: 54.683228 # Commanded vehicle depth:563.203363 # Seafloor depth:-613.540943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.422519 meters # Minimum depth: 612.178708 meters looking forward 100.000000 meters along route # Maximum depth: 613.847294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.178708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.678545; captureRadius = 10; duration = 101; initialDepth = 562.178708; finalDepth = 563.203363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.33758 # Actual altitude: 50.33758 # Commanded vehicle depth:562.178708 # Seafloor depth:-612.178708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.422902 meters # Minimum depth: 612.787898 meters looking forward 100.000000 meters along route # Maximum depth: 619.027460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.787898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.679318; captureRadius = 10; duration = 101; initialDepth = 562.787898; finalDepth = 562.178708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.73213 # Actual altitude: 50.73213 # Commanded vehicle depth:562.787898 # Seafloor depth:-613.520028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.423283 meters # Minimum depth: 622.538420 meters looking forward 100.000000 meters along route # Maximum depth: 640.271546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.538420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.680091; captureRadius = 10; duration = 101; initialDepth = 572.538420; finalDepth = 562.787898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.73213 # Actual altitude: 50.73213 # Commanded vehicle depth:572.53842 # Seafloor depth:-622.538420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.423665 meters # Minimum depth: 641.475759 meters looking forward 100.000000 meters along route # Maximum depth: 655.071163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.475759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.680865; captureRadius = 10; duration = 101; initialDepth = 591.475759; finalDepth = 572.538420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:591.475759 # Seafloor depth:-641.475759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.424047 meters # Minimum depth: 659.207120 meters looking forward 100.000000 meters along route # Maximum depth: 669.644469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.207120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.681638; captureRadius = 10; duration = 101; initialDepth = 609.207120; finalDepth = 591.475759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:609.20712 # Seafloor depth:-659.207120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.424430 meters # Minimum depth: 669.994435 meters looking forward 100.000000 meters along route # Maximum depth: 671.567993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.994435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.682411; captureRadius = 10; duration = 101; initialDepth = 619.994435; finalDepth = 609.207120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:619.994435 # Seafloor depth:-669.994435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.424811 meters # Minimum depth: 669.542801 meters looking forward 100.000000 meters along route # Maximum depth: 671.530064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.542801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.683184; captureRadius = 10; duration = 101; initialDepth = 619.542801; finalDepth = 619.994435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.987263 # Actual altitude: 51.987263 # Commanded vehicle depth:619.542801 # Seafloor depth:-671.530064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.425194 meters # Minimum depth: 665.439970 meters looking forward 100.000000 meters along route # Maximum depth: 668.986838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.439970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.683958; captureRadius = 10; duration = 101; initialDepth = 615.439970; finalDepth = 619.542801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.546868 # Actual altitude: 53.546868 # Commanded vehicle depth:615.43997 # Seafloor depth:-668.986838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.425575 meters # Minimum depth: 667.645793 meters looking forward 100.000000 meters along route # Maximum depth: 672.253381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.645793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.684731; captureRadius = 10; duration = 101; initialDepth = 617.645793; finalDepth = 615.439970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.546868 # Actual altitude: 53.546868 # Commanded vehicle depth:617.645793 # Seafloor depth:-668.843221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.425958 meters # Minimum depth: 672.998165 meters looking forward 100.000000 meters along route # Maximum depth: 683.062275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.998165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.685504; captureRadius = 10; duration = 101; initialDepth = 622.998165; finalDepth = 617.645793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1974279999999 # Actual altitude: 51.1974279999999 # Commanded vehicle depth:622.998165 # Seafloor depth:-672.998165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.426340 meters # Minimum depth: 684.088616 meters looking forward 100.000000 meters along route # Maximum depth: 689.542995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.088616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.686278; captureRadius = 10; duration = 101; initialDepth = 634.088616; finalDepth = 622.998165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:634.088616 # Seafloor depth:-684.088616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.426721 meters # Minimum depth: 689.498552 meters looking forward 100.000000 meters along route # Maximum depth: 691.355273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.498552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.687051; captureRadius = 10; duration = 101; initialDepth = 639.498552; finalDepth = 634.088616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:639.498552 # Seafloor depth:-689.498552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.427105 meters # Minimum depth: 684.197724 meters looking forward 100.000000 meters along route # Maximum depth: 689.905427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.197724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.687824; captureRadius = 10; duration = 101; initialDepth = 634.197724; finalDepth = 639.498552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.707703 # Actual altitude: 55.707703 # Commanded vehicle depth:634.197724 # Seafloor depth:-689.905427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.427486 meters # Minimum depth: 678.197647 meters looking forward 100.000000 meters along route # Maximum depth: 683.503501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.197647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.688598; captureRadius = 10; duration = 101; initialDepth = 628.197647; finalDepth = 634.197724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.707703 # Actual altitude: 55.707703 # Commanded vehicle depth:628.197647 # Seafloor depth:-683.503501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.427868 meters # Minimum depth: 673.996364 meters looking forward 100.000000 meters along route # Maximum depth: 678.130863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.996364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.689371; captureRadius = 10; duration = 101; initialDepth = 623.996364; finalDepth = 628.197647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3058540000001 # Actual altitude: 55.3058540000001 # Commanded vehicle depth:623.996364 # Seafloor depth:-678.130863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.428250 meters # Minimum depth: 674.444703 meters looking forward 100.000000 meters along route # Maximum depth: 681.737976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.444703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.690144; captureRadius = 10; duration = 101; initialDepth = 624.444703; finalDepth = 623.996364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.134499 # Actual altitude: 54.134499 # Commanded vehicle depth:624.444703 # Seafloor depth:-674.444703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.428633 meters # Minimum depth: 680.650654 meters looking forward 100.000000 meters along route # Maximum depth: 687.407202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.650654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.690917; captureRadius = 10; duration = 101; initialDepth = 630.650654; finalDepth = 624.444703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:630.650654 # Seafloor depth:-680.650654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.429015 meters # Minimum depth: 689.699005 meters looking forward 100.000000 meters along route # Maximum depth: 699.963058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.699005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.691691; captureRadius = 10; duration = 101; initialDepth = 639.699005; finalDepth = 630.650654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:639.699005 # Seafloor depth:-689.699005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.429397 meters # Minimum depth: 701.205205 meters looking forward 100.000000 meters along route # Maximum depth: 713.645338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.205205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.692464; captureRadius = 10; duration = 101; initialDepth = 651.205205; finalDepth = 639.699005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:651.205205 # Seafloor depth:-701.205205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.429779 meters # Minimum depth: 711.186386 meters looking forward 100.000000 meters along route # Maximum depth: 713.200124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.186386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.693237; captureRadius = 10; duration = 101; initialDepth = 661.186386; finalDepth = 651.205205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.170689 # Actual altitude: 50.170689 # Commanded vehicle depth:661.186386 # Seafloor depth:-711.357075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.430161 meters # Minimum depth: 709.305895 meters looking forward 100.000000 meters along route # Maximum depth: 716.297860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.305895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.694011; captureRadius = 10; duration = 101; initialDepth = 659.305895; finalDepth = 661.186386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4378790000001 # Actual altitude: 50.4378790000001 # Commanded vehicle depth:659.305895 # Seafloor depth:-709.743774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.430544 meters # Minimum depth: 716.488911 meters looking forward 100.000000 meters along route # Maximum depth: 725.837531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.488911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.694784; captureRadius = 10; duration = 101; initialDepth = 666.488911; finalDepth = 659.305895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4378790000001 # Actual altitude: 50.4378790000001 # Commanded vehicle depth:666.488911 # Seafloor depth:-716.488911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.430925 meters # Minimum depth: 728.883119 meters looking forward 100.000000 meters along route # Maximum depth: 739.978414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.883119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289787; longitude = -117.695557; captureRadius = 10; duration = 101; initialDepth = 678.883119; finalDepth = 666.488911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:678.883119 # Seafloor depth:-728.883119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.431308 meters # Minimum depth: 740.537600 meters looking forward 100.000000 meters along route # Maximum depth: 741.340791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.537600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289143; longitude = -117.696331; captureRadius = 10; duration = 101; initialDepth = 690.537600; finalDepth = 678.883119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:690.5376 # Seafloor depth:-740.537600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.431690 meters # Minimum depth: 739.383827 meters looking forward 100.000000 meters along route # Maximum depth: 741.991305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.383827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.697104; captureRadius = 10; duration = 101; initialDepth = 689.383827; finalDepth = 690.537600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.550549 # Actual altitude: 51.550549 # Commanded vehicle depth:689.383827 # Seafloor depth:-740.934376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.432073 meters # Minimum depth: 743.131828 meters looking forward 100.000000 meters along route # Maximum depth: 752.296283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.131828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.697877; captureRadius = 10; duration = 101; initialDepth = 693.131828; finalDepth = 689.383827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.550549 # Actual altitude: 51.550549 # Commanded vehicle depth:693.131828 # Seafloor depth:-743.131828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.432454 meters # Minimum depth: 752.383119 meters looking forward 100.000000 meters along route # Maximum depth: 757.602703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.383119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.698650; captureRadius = 10; duration = 101; initialDepth = 702.383119; finalDepth = 693.131828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:702.383119 # Seafloor depth:-752.383119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.432837 meters # Minimum depth: 758.406615 meters looking forward 100.000000 meters along route # Maximum depth: 760.952501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.406615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.699424; captureRadius = 10; duration = 101; initialDepth = 708.406615; finalDepth = 702.383119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:708.406615 # Seafloor depth:-758.406615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.433219 meters # Minimum depth: 760.577946 meters looking forward 100.000000 meters along route # Maximum depth: 761.898326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.577946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285921; longitude = -117.700197; captureRadius = 10; duration = 101; initialDepth = 710.577946; finalDepth = 708.406615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:710.577946 # Seafloor depth:-760.577946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.433602 meters # Minimum depth: 762.380477 meters looking forward 100.000000 meters along route # Maximum depth: 763.961409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.380477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.700970; captureRadius = 10; duration = 101; initialDepth = 712.380477; finalDepth = 710.577946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.380477 # Seafloor depth:-762.380477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.433983 meters # Minimum depth: 764.162760 meters looking forward 100.000000 meters along route # Maximum depth: 765.604434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.162760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284632; longitude = -117.701744; captureRadius = 10; duration = 101; initialDepth = 714.162760; finalDepth = 712.380477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.16276 # Seafloor depth:-764.162760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.434366 meters # Minimum depth: 765.624481 meters looking forward 100.000000 meters along route # Maximum depth: 766.706606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.624481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283988; longitude = -117.702517; captureRadius = 10; duration = 101; initialDepth = 715.624481; finalDepth = 714.162760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.624481 # Seafloor depth:-765.624481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.434748 meters # Minimum depth: 766.935098 meters looking forward 100.000000 meters along route # Maximum depth: 768.103947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.935098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283344; longitude = -117.703290; captureRadius = 10; duration = 101; initialDepth = 716.935098; finalDepth = 715.624481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.935098 # Seafloor depth:-766.935098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 105.509883 meters # Minimum depth: 768.191412 meters looking forward 100.000000 meters along route # Maximum depth: 769.463189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.191412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282699; longitude = -117.704064; captureRadius = 10; duration = 105; initialDepth = 718.191412; finalDepth = 716.935098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.191412 # Seafloor depth:-768.191412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.639427 meters # Minimum depth: 769.515092 meters looking forward 100.000000 meters along route # Maximum depth: 770.765713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.515092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282029; longitude = -117.704868; captureRadius = 10; duration = 111; initialDepth = 719.515092; finalDepth = 718.191412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.515092 # Seafloor depth:-769.515092 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 47.731404 meters # Minimum depth: 770.330895 meters looking forward 100.000000 meters along route # Maximum depth: 770.946927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.330895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281320; longitude = -117.705719; captureRadius = 10; duration = 47; # abortOnTimeout = True; initialDepth = 720.330895; finalDepth = 719.515092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.574134 # Actual altitude: 50.574134 # Commanded vehicle depth:720.330895 # Seafloor depth:-770.905029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.268404 meters # Minimum depth: 770.571570 meters looking forward 100.000000 meters along route # Maximum depth: 770.816389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.571570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281625; longitude = -117.706080; captureRadius = 10; duration = 102; initialDepth = 720.571570; finalDepth = 720.330895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.574134 # Actual altitude: 50.574134 # Commanded vehicle depth:720.57157 # Seafloor depth:-770.816389 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 10 at end of line 10 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.587983; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.587983; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1585; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 32.208885 meters # Minimum depth: 770.471772 meters looking forward 100.000000 meters along route # Maximum depth: 770.714543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.471772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282280; longitude = -117.706854; captureRadius = 10; duration = 32; # abortOnTimeout = True; initialDepth = 720.471772; finalDepth = 720.571570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.244819 # Actual altitude: 50.244819 # Commanded vehicle depth:720.471772 # Seafloor depth:-770.486816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.433815 meters # Minimum depth: 769.020486 meters looking forward 100.000000 meters along route # Maximum depth: 770.135735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.020486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.706608; captureRadius = 10; duration = 101; initialDepth = 719.020486; finalDepth = 720.471772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1152489999999 # Actual altitude: 51.1152489999999 # Commanded vehicle depth:719.020486 # Seafloor depth:-770.135735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.433433 meters # Minimum depth: 767.724101 meters looking forward 100.000000 meters along route # Maximum depth: 768.849583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.724101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.705835; captureRadius = 10; duration = 101; initialDepth = 717.724101; finalDepth = 719.020486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.125482 # Actual altitude: 51.125482 # Commanded vehicle depth:717.724101 # Seafloor depth:-768.849583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.433050 meters # Minimum depth: 766.848025 meters looking forward 100.000000 meters along route # Maximum depth: 767.694138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.848025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.705062; captureRadius = 10; duration = 101; initialDepth = 716.848025; finalDepth = 717.724101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.125482 # Actual altitude: 51.125482 # Commanded vehicle depth:716.848025 # Seafloor depth:-767.694138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.432669 meters # Minimum depth: 765.760458 meters looking forward 100.000000 meters along route # Maximum depth: 766.651724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.760458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.704289; captureRadius = 10; duration = 101; initialDepth = 715.760458; finalDepth = 716.848025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.891266 # Actual altitude: 50.891266 # Commanded vehicle depth:715.760458 # Seafloor depth:-766.651724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.432286 meters # Minimum depth: 764.938818 meters looking forward 100.000000 meters along route # Maximum depth: 765.677457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.938818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.703515; captureRadius = 10; duration = 101; initialDepth = 714.938818; finalDepth = 715.760458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.891266 # Actual altitude: 50.891266 # Commanded vehicle depth:714.938818 # Seafloor depth:-765.677457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.431903 meters # Minimum depth: 763.680886 meters looking forward 100.000000 meters along route # Maximum depth: 764.678110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.680886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.702742; captureRadius = 10; duration = 101; initialDepth = 713.680886; finalDepth = 714.938818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.997224 # Actual altitude: 50.997224 # Commanded vehicle depth:713.680886 # Seafloor depth:-764.678110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.431522 meters # Minimum depth: 761.447811 meters looking forward 100.000000 meters along route # Maximum depth: 763.508889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.447811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.701969; captureRadius = 10; duration = 101; initialDepth = 711.447811; finalDepth = 713.680886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.061078 # Actual altitude: 52.061078 # Commanded vehicle depth:711.447811 # Seafloor depth:-763.508889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.431139 meters # Minimum depth: 756.171866 meters looking forward 100.000000 meters along route # Maximum depth: 761.424688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.171866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.701195; captureRadius = 10; duration = 101; initialDepth = 706.171866; finalDepth = 711.447811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2528219999999 # Actual altitude: 55.2528219999999 # Commanded vehicle depth:706.171866 # Seafloor depth:-761.424688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 221.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.430757 meters # Minimum depth: 747.675937 meters looking forward 100.000000 meters along route # Maximum depth: 754.442711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.675937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.700422; captureRadius = 10; duration = 101; initialDepth = 697.675937; finalDepth = 706.171866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7667740000001 # Actual altitude: 56.7667740000001 # Commanded vehicle depth:697.675937 # Seafloor depth:-754.442711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.430374 meters # Minimum depth: 738.660798 meters looking forward 100.000000 meters along route # Maximum depth: 746.458784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.660798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.699649; captureRadius = 10; duration = 101; initialDepth = 688.660798; finalDepth = 697.675937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.797986 # Actual altitude: 57.797986 # Commanded vehicle depth:688.660798 # Seafloor depth:-746.458784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.429993 meters # Minimum depth: 737.726914 meters looking forward 100.000000 meters along route # Maximum depth: 738.979702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.726914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.698876; captureRadius = 10; duration = 101; initialDepth = 687.726914; finalDepth = 688.660798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.797986 # Actual altitude: 57.797986 # Commanded vehicle depth:687.726914 # Seafloor depth:-737.985555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.429610 meters # Minimum depth: 731.874274 meters looking forward 100.000000 meters along route # Maximum depth: 738.437813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.874274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.698102; captureRadius = 10; duration = 101; initialDepth = 681.874274; finalDepth = 687.726914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.53113 # Actual altitude: 56.53113 # Commanded vehicle depth:681.874274 # Seafloor depth:-738.405404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.429228 meters # Minimum depth: 713.911372 meters looking forward 100.000000 meters along route # Maximum depth: 731.402270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.911372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.697329; captureRadius = 10; duration = 101; initialDepth = 663.911372; finalDepth = 681.874274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.490898 # Actual altitude: 67.490898 # Commanded vehicle depth:663.911372 # Seafloor depth:-731.402270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 269.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.428845 meters # Minimum depth: 703.432520 meters looking forward 100.000000 meters along route # Maximum depth: 711.209347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.432520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.696556; captureRadius = 10; duration = 101; initialDepth = 653.432520; finalDepth = 663.911372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.490898 # Actual altitude: 67.490898 # Commanded vehicle depth:653.43252 # Seafloor depth:-711.209347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 269.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.428464 meters # Minimum depth: 703.535143 meters looking forward 100.000000 meters along route # Maximum depth: 704.250166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.535143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.695783; captureRadius = 10; duration = 101; initialDepth = 653.535143; finalDepth = 653.432520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.776827 # Actual altitude: 57.776827 # Commanded vehicle depth:653.535143 # Seafloor depth:-703.911407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.428081 meters # Minimum depth: 705.071695 meters looking forward 100.000000 meters along route # Maximum depth: 715.485102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.071695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.695009; captureRadius = 10; duration = 101; initialDepth = 655.071695; finalDepth = 653.535143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3762640000001 # Actual altitude: 50.3762640000001 # Commanded vehicle depth:655.071695 # Seafloor depth:-705.071695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.427699 meters # Minimum depth: 716.924158 meters looking forward 100.000000 meters along route # Maximum depth: 724.093187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.924158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.694236; captureRadius = 10; duration = 101; initialDepth = 666.924158; finalDepth = 655.071695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:666.924158 # Seafloor depth:-716.924158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.427317 meters # Minimum depth: 696.187769 meters looking forward 100.000000 meters along route # Maximum depth: 723.659574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.187769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.693463; captureRadius = 10; duration = 101; initialDepth = 646.187769; finalDepth = 666.924158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.471805 # Actual altitude: 77.471805 # Commanded vehicle depth:646.187769 # Seafloor depth:-723.659574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 309.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.426935 meters # Minimum depth: 678.803023 meters looking forward 100.000000 meters along route # Maximum depth: 691.368379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.803023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.692689; captureRadius = 10; duration = 101; initialDepth = 628.803023; finalDepth = 646.187769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.471805 # Actual altitude: 77.471805 # Commanded vehicle depth:628.803023 # Seafloor depth:-691.368379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 309.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.426553 meters # Minimum depth: 674.738851 meters looking forward 100.000000 meters along route # Maximum depth: 679.692279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.738851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.691916; captureRadius = 10; duration = 101; initialDepth = 624.738851; finalDepth = 628.803023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.565356 # Actual altitude: 62.565356 # Commanded vehicle depth:624.738851 # Seafloor depth:-677.302490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.426170 meters # Minimum depth: 672.435961 meters looking forward 100.000000 meters along route # Maximum depth: 676.612282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.435961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.691143; captureRadius = 10; duration = 101; initialDepth = 622.435961; finalDepth = 624.738851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5636390000001 # Actual altitude: 52.5636390000001 # Commanded vehicle depth:622.435961 # Seafloor depth:-673.132077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.425788 meters # Minimum depth: 672.262278 meters looking forward 100.000000 meters along route # Maximum depth: 675.963115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.262278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.690370; captureRadius = 10; duration = 101; initialDepth = 622.262278; finalDepth = 622.435961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.696116 # Actual altitude: 50.696116 # Commanded vehicle depth:622.262278 # Seafloor depth:-672.262278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.425406 meters # Minimum depth: 674.971795 meters looking forward 100.000000 meters along route # Maximum depth: 678.092396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.971795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.689596; captureRadius = 10; duration = 101; initialDepth = 624.971795; finalDepth = 622.262278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.919168 # Actual altitude: 50.919168 # Commanded vehicle depth:624.971795 # Seafloor depth:-675.890963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.425024 meters # Minimum depth: 675.384254 meters looking forward 100.000000 meters along route # Maximum depth: 681.920996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.384254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.688823; captureRadius = 10; duration = 101; initialDepth = 625.384254; finalDepth = 624.971795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.612271 # Actual altitude: 53.612271 # Commanded vehicle depth:625.384254 # Seafloor depth:-678.996525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.424642 meters # Minimum depth: 672.369801 meters looking forward 100.000000 meters along route # Maximum depth: 675.569855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.369801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.688050; captureRadius = 10; duration = 101; initialDepth = 622.369801; finalDepth = 625.384254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.612271 # Actual altitude: 53.612271 # Commanded vehicle depth:622.369801 # Seafloor depth:-675.526013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.424260 meters # Minimum depth: 669.764056 meters looking forward 100.000000 meters along route # Maximum depth: 670.896037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.764056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.687276; captureRadius = 10; duration = 101; initialDepth = 619.764056; finalDepth = 622.369801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.156212 # Actual altitude: 53.156212 # Commanded vehicle depth:619.764056 # Seafloor depth:-670.896037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.423878 meters # Minimum depth: 669.022406 meters looking forward 100.000000 meters along route # Maximum depth: 672.302108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.022406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.686503; captureRadius = 10; duration = 101; initialDepth = 619.022406; finalDepth = 619.764056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.131981 # Actual altitude: 51.131981 # Commanded vehicle depth:619.022406 # Seafloor depth:-669.363668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.423495 meters # Minimum depth: 669.438290 meters looking forward 100.000000 meters along route # Maximum depth: 672.505658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.438290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.685730; captureRadius = 10; duration = 101; initialDepth = 619.438290; finalDepth = 619.022406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.067368 # Actual altitude: 53.067368 # Commanded vehicle depth:619.43829 # Seafloor depth:-672.505658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.423114 meters # Minimum depth: 666.716202 meters looking forward 100.000000 meters along route # Maximum depth: 670.372322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.716202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.684957; captureRadius = 10; duration = 101; initialDepth = 616.716202; finalDepth = 619.438290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6561200000001 # Actual altitude: 53.6561200000001 # Commanded vehicle depth:616.716202 # Seafloor depth:-670.372322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.422731 meters # Minimum depth: 664.531610 meters looking forward 100.000000 meters along route # Maximum depth: 667.074436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.531610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.684183; captureRadius = 10; duration = 101; initialDepth = 614.531610; finalDepth = 616.716202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6561200000001 # Actual altitude: 53.6561200000001 # Commanded vehicle depth:614.53161 # Seafloor depth:-666.532485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.422349 meters # Minimum depth: 651.405922 meters looking forward 100.000000 meters along route # Maximum depth: 661.299940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.405922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.683410; captureRadius = 10; duration = 101; initialDepth = 601.405922; finalDepth = 614.531610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.894018 # Actual altitude: 59.894018 # Commanded vehicle depth:601.405922 # Seafloor depth:-661.299940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.421968 meters # Minimum depth: 636.044638 meters looking forward 100.000000 meters along route # Maximum depth: 649.603954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.044638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.682637; captureRadius = 10; duration = 101; initialDepth = 586.044638; finalDepth = 601.405922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5593160000001 # Actual altitude: 63.5593160000001 # Commanded vehicle depth:586.044638 # Seafloor depth:-649.603954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 254.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.421585 meters # Minimum depth: 622.887115 meters looking forward 100.000000 meters along route # Maximum depth: 635.589617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.887115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.681863; captureRadius = 10; duration = 101; initialDepth = 572.887115; finalDepth = 586.044638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5593160000001 # Actual altitude: 63.5593160000001 # Commanded vehicle depth:572.887115 # Seafloor depth:-635.589617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 254.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.421203 meters # Minimum depth: 612.927891 meters looking forward 100.000000 meters along route # Maximum depth: 619.618397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.927891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.681090; captureRadius = 10; duration = 101; initialDepth = 562.927891; finalDepth = 572.887115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.702502 # Actual altitude: 62.702502 # Commanded vehicle depth:562.927891 # Seafloor depth:-619.618397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 250.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.420821 meters # Minimum depth: 609.803757 meters looking forward 100.000000 meters along route # Maximum depth: 613.442442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.803757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.680317; captureRadius = 10; duration = 101; initialDepth = 559.803757; finalDepth = 562.927891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6905059999999 # Actual altitude: 56.6905059999999 # Commanded vehicle depth:559.803757 # Seafloor depth:-613.408572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.420439 meters # Minimum depth: 603.374644 meters looking forward 100.000000 meters along route # Maximum depth: 608.999417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.374644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.679544; captureRadius = 10; duration = 101; initialDepth = 553.374644; finalDepth = 559.803757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.624773 # Actual altitude: 55.624773 # Commanded vehicle depth:553.374644 # Seafloor depth:-608.999417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.420057 meters # Minimum depth: 602.719995 meters looking forward 100.000000 meters along route # Maximum depth: 604.196549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.719995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.678770; captureRadius = 10; duration = 101; initialDepth = 552.719995; finalDepth = 553.374644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.624773 # Actual altitude: 55.624773 # Commanded vehicle depth:552.719995 # Seafloor depth:-603.035342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.419675 meters # Minimum depth: 603.224201 meters looking forward 100.000000 meters along route # Maximum depth: 604.800269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.224201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.677997; captureRadius = 10; duration = 101; initialDepth = 553.224201; finalDepth = 552.719995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.315347 # Actual altitude: 50.315347 # Commanded vehicle depth:553.224201 # Seafloor depth:-603.380799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.419293 meters # Minimum depth: 606.208815 meters looking forward 100.000000 meters along route # Maximum depth: 608.477240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.208815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.677224; captureRadius = 10; duration = 101; initialDepth = 556.208815; finalDepth = 553.224201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.156598 # Actual altitude: 50.156598 # Commanded vehicle depth:556.208815 # Seafloor depth:-606.208815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.418911 meters # Minimum depth: 609.276880 meters looking forward 100.000000 meters along route # Maximum depth: 612.869234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.276880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.676450; captureRadius = 10; duration = 101; initialDepth = 559.276880; finalDepth = 556.208815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:559.27688 # Seafloor depth:-609.276880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.418529 meters # Minimum depth: 612.684026 meters looking forward 100.000000 meters along route # Maximum depth: 618.416357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.684026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.675677; captureRadius = 10; duration = 101; initialDepth = 562.684026; finalDepth = 559.276880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.222323 # Actual altitude: 50.222323 # Commanded vehicle depth:562.684026 # Seafloor depth:-612.906349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.418147 meters # Minimum depth: 614.092713 meters looking forward 100.000000 meters along route # Maximum depth: 617.671579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.092713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.674904; captureRadius = 10; duration = 101; initialDepth = 564.092713; finalDepth = 562.684026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5788659999999 # Actual altitude: 53.5788659999999 # Commanded vehicle depth:564.092713 # Seafloor depth:-617.671579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.417765 meters # Minimum depth: 610.468835 meters looking forward 100.000000 meters along route # Maximum depth: 615.354574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.468835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.674131; captureRadius = 10; duration = 101; initialDepth = 560.468835; finalDepth = 564.092713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8857389999999 # Actual altitude: 54.8857389999999 # Commanded vehicle depth:560.468835 # Seafloor depth:-615.354574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.417383 meters # Minimum depth: 602.911151 meters looking forward 100.000000 meters along route # Maximum depth: 609.230127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.911151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.673357; captureRadius = 10; duration = 101; initialDepth = 552.911151; finalDepth = 560.468835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.318976 # Actual altitude: 56.318976 # Commanded vehicle depth:552.911151 # Seafloor depth:-609.230127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.417001 meters # Minimum depth: 592.679030 meters looking forward 100.000000 meters along route # Maximum depth: 602.460373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.679030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.672584; captureRadius = 10; duration = 101; initialDepth = 542.679030; finalDepth = 552.911151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.781343 # Actual altitude: 59.781343 # Commanded vehicle depth:542.67903 # Seafloor depth:-602.460373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 239.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.416619 meters # Minimum depth: 588.284195 meters looking forward 100.000000 meters along route # Maximum depth: 591.216049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.284195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.671811; captureRadius = 10; duration = 101; initialDepth = 538.284195; finalDepth = 542.679030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.781343 # Actual altitude: 59.781343 # Commanded vehicle depth:538.284195 # Seafloor depth:-591.216049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 239.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.416238 meters # Minimum depth: 586.666883 meters looking forward 100.000000 meters along route # Maximum depth: 588.042733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.666883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.671037; captureRadius = 10; duration = 101; initialDepth = 536.666883; finalDepth = 538.284195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.931854 # Actual altitude: 52.931854 # Commanded vehicle depth:536.666883 # Seafloor depth:-588.042733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.415855 meters # Minimum depth: 586.495435 meters looking forward 100.000000 meters along route # Maximum depth: 586.804112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.495435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.670264; captureRadius = 10; duration = 101; initialDepth = 536.495435; finalDepth = 536.666883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.37585 # Actual altitude: 51.37585 # Commanded vehicle depth:536.495435 # Seafloor depth:-586.628623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.415473 meters # Minimum depth: 583.244449 meters looking forward 100.000000 meters along route # Maximum depth: 586.019964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.244449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.669491; captureRadius = 10; duration = 101; initialDepth = 533.244449; finalDepth = 536.495435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7755149999999 # Actual altitude: 52.7755149999999 # Commanded vehicle depth:533.244449 # Seafloor depth:-586.019964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.415092 meters # Minimum depth: 580.093755 meters looking forward 100.000000 meters along route # Maximum depth: 582.336221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.093755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.668718; captureRadius = 10; duration = 101; initialDepth = 530.093755; finalDepth = 533.244449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7755149999999 # Actual altitude: 52.7755149999999 # Commanded vehicle depth:530.093755 # Seafloor depth:-582.336221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.414709 meters # Minimum depth: 577.854634 meters looking forward 100.000000 meters along route # Maximum depth: 579.632504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.854634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.667944; captureRadius = 10; duration = 101; initialDepth = 527.854634; finalDepth = 530.093755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.242466 # Actual altitude: 52.242466 # Commanded vehicle depth:527.854634 # Seafloor depth:-578.590895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.414328 meters # Minimum depth: 572.621357 meters looking forward 100.000000 meters along route # Maximum depth: 577.148520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.621357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.667171; captureRadius = 10; duration = 101; initialDepth = 522.621357; finalDepth = 527.854634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.527163 # Actual altitude: 54.527163 # Commanded vehicle depth:522.621357 # Seafloor depth:-577.148520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.413946 meters # Minimum depth: 570.821829 meters looking forward 100.000000 meters along route # Maximum depth: 572.682553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.821829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.666398; captureRadius = 10; duration = 101; initialDepth = 520.821829; finalDepth = 522.621357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.527163 # Actual altitude: 54.527163 # Commanded vehicle depth:520.821829 # Seafloor depth:-572.682553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.413564 meters # Minimum depth: 568.613283 meters looking forward 100.000000 meters along route # Maximum depth: 572.196576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.613283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.665624; captureRadius = 10; duration = 101; initialDepth = 518.613283; finalDepth = 520.821829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.860724 # Actual altitude: 51.860724 # Commanded vehicle depth:518.613283 # Seafloor depth:-569.476319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.413182 meters # Minimum depth: 569.213682 meters looking forward 100.000000 meters along route # Maximum depth: 571.386218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.213682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.664851; captureRadius = 10; duration = 101; initialDepth = 519.213682; finalDepth = 518.613283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.172536 # Actual altitude: 52.172536 # Commanded vehicle depth:519.213682 # Seafloor depth:-571.386218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.412800 meters # Minimum depth: 565.766629 meters looking forward 100.000000 meters along route # Maximum depth: 569.054179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.766629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.664078; captureRadius = 10; duration = 101; initialDepth = 515.766629; finalDepth = 519.213682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.28755 # Actual altitude: 53.28755 # Commanded vehicle depth:515.766629 # Seafloor depth:-569.054179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.412418 meters # Minimum depth: 558.832065 meters looking forward 100.000000 meters along route # Maximum depth: 565.363379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.832065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.663305; captureRadius = 10; duration = 101; initialDepth = 508.832065; finalDepth = 515.766629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.531314 # Actual altitude: 56.531314 # Commanded vehicle depth:508.832065 # Seafloor depth:-565.363379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.412036 meters # Minimum depth: 554.241941 meters looking forward 100.000000 meters along route # Maximum depth: 558.656587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.241941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.662531; captureRadius = 10; duration = 101; initialDepth = 504.241941; finalDepth = 508.832065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.531314 # Actual altitude: 56.531314 # Commanded vehicle depth:504.241941 # Seafloor depth:-558.656587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.411655 meters # Minimum depth: 545.785798 meters looking forward 100.000000 meters along route # Maximum depth: 553.139963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.785798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.661758; captureRadius = 10; duration = 101; initialDepth = 495.785798; finalDepth = 504.241941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.471736 # Actual altitude: 56.471736 # Commanded vehicle depth:495.785798 # Seafloor depth:-552.257534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.411273 meters # Minimum depth: 538.559606 meters looking forward 100.000000 meters along route # Maximum depth: 546.406867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.559606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.660985; captureRadius = 10; duration = 101; initialDepth = 488.559606; finalDepth = 495.785798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.847261 # Actual altitude: 57.847261 # Commanded vehicle depth:488.559606 # Seafloor depth:-546.406867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.410891 meters # Minimum depth: 524.852785 meters looking forward 100.000000 meters along route # Maximum depth: 539.849929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.852785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.660212; captureRadius = 10; duration = 101; initialDepth = 474.852785; finalDepth = 488.559606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.73014 # Actual altitude: 64.73014 # Commanded vehicle depth:474.852785 # Seafloor depth:-539.582925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 258.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.410509 meters # Minimum depth: 508.600623 meters looking forward 100.000000 meters along route # Maximum depth: 525.363445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.600623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.659438; captureRadius = 10; duration = 101; initialDepth = 458.600623; finalDepth = 474.852785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.762822 # Actual altitude: 66.762822 # Commanded vehicle depth:458.600623 # Seafloor depth:-525.363445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 267.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.410127 meters # Minimum depth: 503.824977 meters looking forward 100.000000 meters along route # Maximum depth: 508.197510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.824977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.658665; captureRadius = 10; duration = 101; initialDepth = 453.824977; finalDepth = 458.600623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.762822 # Actual altitude: 66.762822 # Commanded vehicle depth:453.824977 # Seafloor depth:-508.197510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 267.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.409746 meters # Minimum depth: 499.794043 meters looking forward 100.000000 meters along route # Maximum depth: 501.724989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.794043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.657892; captureRadius = 10; duration = 101; initialDepth = 449.794043; finalDepth = 453.824977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.372533 # Actual altitude: 54.372533 # Commanded vehicle depth:449.794043 # Seafloor depth:-501.724989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.409363 meters # Minimum depth: 495.344592 meters looking forward 100.000000 meters along route # Maximum depth: 499.362709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.344592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.657118; captureRadius = 10; duration = 101; initialDepth = 445.344592; finalDepth = 449.794043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.018117 # Actual altitude: 54.018117 # Commanded vehicle depth:445.344592 # Seafloor depth:-499.362709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.408982 meters # Minimum depth: 488.250831 meters looking forward 100.000000 meters along route # Maximum depth: 494.760670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.250831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.656345; captureRadius = 10; duration = 101; initialDepth = 438.250831; finalDepth = 445.344592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.509839 # Actual altitude: 56.509839 # Commanded vehicle depth:438.250831 # Seafloor depth:-494.760670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 226.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.408600 meters # Minimum depth: 482.571314 meters looking forward 100.000000 meters along route # Maximum depth: 493.375409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.571314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.655572; captureRadius = 10; duration = 101; initialDepth = 432.571314; finalDepth = 438.250831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.804095 # Actual altitude: 60.804095 # Commanded vehicle depth:432.571314 # Seafloor depth:-493.375409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 243.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.408219 meters # Minimum depth: 480.676219 meters looking forward 100.000000 meters along route # Maximum depth: 489.301299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.676219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325655; longitude = -117.654799; captureRadius = 10; duration = 101; initialDepth = 430.676219; finalDepth = 432.571314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.804095 # Actual altitude: 60.804095 # Commanded vehicle depth:430.676219 # Seafloor depth:-488.136029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 243.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.407836 meters # Minimum depth: 473.108089 meters looking forward 100.000000 meters along route # Maximum depth: 479.617305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.108089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326300; longitude = -117.654025; captureRadius = 10; duration = 101; initialDepth = 423.108089; finalDepth = 430.676219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.45981 # Actual altitude: 57.45981 # Commanded vehicle depth:423.108089 # Seafloor depth:-478.686222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.407455 meters # Minimum depth: 457.462331 meters looking forward 100.000000 meters along route # Maximum depth: 471.977120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.462331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326944; longitude = -117.653252; captureRadius = 10; duration = 101; initialDepth = 407.462331; finalDepth = 423.108089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.514789 # Actual altitude: 64.514789 # Commanded vehicle depth:407.462331 # Seafloor depth:-471.977120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 258.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.407074 meters # Minimum depth: 445.018197 meters looking forward 100.000000 meters along route # Maximum depth: 453.589084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.018197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327588; longitude = -117.652479; captureRadius = 10; duration = 101; initialDepth = 395.018197; finalDepth = 407.462331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.514789 # Actual altitude: 64.514789 # Commanded vehicle depth:395.018197 # Seafloor depth:-453.589084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 258.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 112.570496 meters # Minimum depth: 425.153111 meters looking forward 100.000000 meters along route # Maximum depth: 442.916514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.153111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328233; longitude = -117.651705; captureRadius = 10; duration = 112; initialDepth = 375.153111; finalDepth = 395.018197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.763403 # Actual altitude: 67.763403 # Commanded vehicle depth:375.153111 # Seafloor depth:-442.916514 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 271.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 43.085214 meters # Minimum depth: 408.963446 meters looking forward 100.000000 meters along route # Maximum depth: 431.960406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.963446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328948; longitude = -117.650847; captureRadius = 10; duration = 43; # abortOnTimeout = True; initialDepth = 358.963446; finalDepth = 375.153111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.763403 # Actual altitude: 67.763403 # Commanded vehicle depth:358.963446 # Seafloor depth:-419.381264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 271.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.952216 meters # Minimum depth: 346.064819 meters looking forward 100.000000 meters along route # Maximum depth: 390.078801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.064819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329224; longitude = -117.651173; captureRadius = 10; duration = 106; initialDepth = 296.064819; finalDepth = 358.963446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.013982 # Actual altitude: 94.013982 # Commanded vehicle depth:296.064819 # Seafloor depth:-390.078801 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 376.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 376.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 8 at end of line 8 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.603938; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.603938; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 701; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 27.197634 meters # Minimum depth: 340.827386 meters looking forward 100.000000 meters along route # Maximum depth: 361.631797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.827386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329909; longitude = -117.651982; captureRadius = 10; duration = 27; # abortOnTimeout = True; initialDepth = 290.827386; finalDepth = 296.064819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.013982 # Actual altitude: 94.013982 # Commanded vehicle depth:290.827386 # Seafloor depth:-342.457169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 376.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 376.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.406215 meters # Minimum depth: 344.516463 meters looking forward 100.000000 meters along route # Maximum depth: 359.741779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.516463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329736; longitude = -117.652189; captureRadius = 10; duration = 101; initialDepth = 294.516463; finalDepth = 290.827386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.629783 # Actual altitude: 51.629783 # Commanded vehicle depth:294.516463 # Seafloor depth:-344.516463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.406596 meters # Minimum depth: 361.083174 meters looking forward 100.000000 meters along route # Maximum depth: 375.725083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.083174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329092; longitude = -117.652963; captureRadius = 10; duration = 101; initialDepth = 311.083174; finalDepth = 294.516463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:311.083174 # Seafloor depth:-361.083174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.406979 meters # Minimum depth: 386.245562 meters looking forward 100.000000 meters along route # Maximum depth: 397.509692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.245562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328448; longitude = -117.653736; captureRadius = 10; duration = 101; initialDepth = 336.245562; finalDepth = 311.083174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:336.245562 # Seafloor depth:-386.245562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.407360 meters # Minimum depth: 401.770107 meters looking forward 100.000000 meters along route # Maximum depth: 414.286183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.770107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327803; longitude = -117.654509; captureRadius = 10; duration = 101; initialDepth = 351.770107; finalDepth = 336.245562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.224741 # Actual altitude: 50.224741 # Commanded vehicle depth:351.770107 # Seafloor depth:-401.994848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.407742 meters # Minimum depth: 416.213504 meters looking forward 100.000000 meters along route # Maximum depth: 448.705698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.213504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327159; longitude = -117.655283; captureRadius = 10; duration = 101; initialDepth = 366.213504; finalDepth = 351.770107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.224741 # Actual altitude: 50.224741 # Commanded vehicle depth:366.213504 # Seafloor depth:-416.213504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.408123 meters # Minimum depth: 429.901166 meters looking forward 100.000000 meters along route # Maximum depth: 439.104627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.901166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326514; longitude = -117.656056; captureRadius = 10; duration = 101; initialDepth = 379.901166; finalDepth = 366.213504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.203461 # Actual altitude: 59.203461 # Commanded vehicle depth:379.901166 # Seafloor depth:-439.104627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.408506 meters # Minimum depth: 434.054466 meters looking forward 100.000000 meters along route # Maximum depth: 437.832551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.054466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.656829; captureRadius = 10; duration = 101; initialDepth = 384.054466; finalDepth = 379.901166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.203461 # Actual altitude: 59.203461 # Commanded vehicle depth:384.054466 # Seafloor depth:-434.227875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.408887 meters # Minimum depth: 440.419375 meters looking forward 100.000000 meters along route # Maximum depth: 447.735520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.419375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.657602; captureRadius = 10; duration = 101; initialDepth = 390.419375; finalDepth = 384.054466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.173409 # Actual altitude: 50.173409 # Commanded vehicle depth:390.419375 # Seafloor depth:-440.419375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.409269 meters # Minimum depth: 449.253717 meters looking forward 100.000000 meters along route # Maximum depth: 459.349694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.253717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.658376; captureRadius = 10; duration = 101; initialDepth = 399.253717; finalDepth = 390.419375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:399.253717 # Seafloor depth:-449.253717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.409651 meters # Minimum depth: 459.904916 meters looking forward 100.000000 meters along route # Maximum depth: 471.377636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.904916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.659149; captureRadius = 10; duration = 101; initialDepth = 409.904916; finalDepth = 399.253717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:409.904916 # Seafloor depth:-459.904916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.410033 meters # Minimum depth: 473.828191 meters looking forward 100.000000 meters along route # Maximum depth: 484.661938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.828191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.659922; captureRadius = 10; duration = 101; initialDepth = 423.828191; finalDepth = 409.904916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:423.828191 # Seafloor depth:-473.828191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.410414 meters # Minimum depth: 482.523249 meters looking forward 100.000000 meters along route # Maximum depth: 496.135916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.523249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.660696; captureRadius = 10; duration = 101; initialDepth = 432.523249; finalDepth = 423.828191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.323778 # Actual altitude: 54.323778 # Commanded vehicle depth:432.523249 # Seafloor depth:-486.847027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.410797 meters # Minimum depth: 501.263355 meters looking forward 100.000000 meters along route # Maximum depth: 514.061136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.263355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.661469; captureRadius = 10; duration = 101; initialDepth = 451.263355; finalDepth = 432.523249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.323778 # Actual altitude: 54.323778 # Commanded vehicle depth:451.263355 # Seafloor depth:-501.263355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.411178 meters # Minimum depth: 515.808233 meters looking forward 100.000000 meters along route # Maximum depth: 532.630675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.808233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.662242; captureRadius = 10; duration = 101; initialDepth = 465.808233; finalDepth = 451.263355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:465.808233 # Seafloor depth:-515.808233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.411560 meters # Minimum depth: 533.105363 meters looking forward 100.000000 meters along route # Maximum depth: 546.337463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.105363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.663015; captureRadius = 10; duration = 101; initialDepth = 483.105363; finalDepth = 465.808233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:483.105363 # Seafloor depth:-533.105363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.411942 meters # Minimum depth: 549.376311 meters looking forward 100.000000 meters along route # Maximum depth: 559.183905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.376311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.663789; captureRadius = 10; duration = 101; initialDepth = 499.376311; finalDepth = 483.105363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:499.376311 # Seafloor depth:-549.376311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.412324 meters # Minimum depth: 560.396638 meters looking forward 100.000000 meters along route # Maximum depth: 563.354344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.396638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.664562; captureRadius = 10; duration = 101; initialDepth = 510.396638; finalDepth = 499.376311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:510.396638 # Seafloor depth:-560.396638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.412706 meters # Minimum depth: 564.552184 meters looking forward 100.000000 meters along route # Maximum depth: 567.193912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.552184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.665335; captureRadius = 10; duration = 101; initialDepth = 514.552184; finalDepth = 510.396638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.552184 # Seafloor depth:-564.552184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.413088 meters # Minimum depth: 567.702368 meters looking forward 100.000000 meters along route # Maximum depth: 569.196807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.702368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.666108; captureRadius = 10; duration = 101; initialDepth = 517.702368; finalDepth = 514.552184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:517.702368 # Seafloor depth:-567.702368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.413469 meters # Minimum depth: 568.392075 meters looking forward 100.000000 meters along route # Maximum depth: 571.802884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.392075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.666882; captureRadius = 10; duration = 101; initialDepth = 518.392075; finalDepth = 517.702368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:518.392075 # Seafloor depth:-568.392075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.413852 meters # Minimum depth: 571.982221 meters looking forward 100.000000 meters along route # Maximum depth: 574.710377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.982221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.667655; captureRadius = 10; duration = 101; initialDepth = 521.982221; finalDepth = 518.392075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.982221 # Seafloor depth:-571.982221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.414233 meters # Minimum depth: 573.128662 meters looking forward 100.000000 meters along route # Maximum depth: 576.253534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.128662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.668428; captureRadius = 10; duration = 101; initialDepth = 523.128662; finalDepth = 521.982221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.363599 # Actual altitude: 51.363599 # Commanded vehicle depth:523.128662 # Seafloor depth:-574.492261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.414616 meters # Minimum depth: 573.003420 meters looking forward 100.000000 meters along route # Maximum depth: 578.910946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.003420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.669202; captureRadius = 10; duration = 101; initialDepth = 523.003420; finalDepth = 523.128662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.148831 # Actual altitude: 55.148831 # Commanded vehicle depth:523.00342 # Seafloor depth:-578.152251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.414997 meters # Minimum depth: 578.092623 meters looking forward 100.000000 meters along route # Maximum depth: 582.418838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.092623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.669975; captureRadius = 10; duration = 101; initialDepth = 528.092623; finalDepth = 523.003420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.148831 # Actual altitude: 55.148831 # Commanded vehicle depth:528.092623 # Seafloor depth:-578.092623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.415379 meters # Minimum depth: 582.492261 meters looking forward 100.000000 meters along route # Maximum depth: 583.479599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.492261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.670748; captureRadius = 10; duration = 101; initialDepth = 532.492261; finalDepth = 528.092623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:532.492261 # Seafloor depth:-582.492261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.415761 meters # Minimum depth: 582.920732 meters looking forward 100.000000 meters along route # Maximum depth: 585.526893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.920732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.671521; captureRadius = 10; duration = 101; initialDepth = 532.920732; finalDepth = 532.492261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.644734 # Actual altitude: 50.644734 # Commanded vehicle depth:532.920732 # Seafloor depth:-583.565466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.416144 meters # Minimum depth: 584.989020 meters looking forward 100.000000 meters along route # Maximum depth: 587.227173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.989020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.672295; captureRadius = 10; duration = 101; initialDepth = 534.989020; finalDepth = 532.920732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.644734 # Actual altitude: 50.644734 # Commanded vehicle depth:534.98902 # Seafloor depth:-585.472924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.416525 meters # Minimum depth: 588.892513 meters looking forward 100.000000 meters along route # Maximum depth: 592.800604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.892513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.673068; captureRadius = 10; duration = 101; initialDepth = 538.892513; finalDepth = 534.989020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4839040000001 # Actual altitude: 50.4839040000001 # Commanded vehicle depth:538.892513 # Seafloor depth:-589.290712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.416907 meters # Minimum depth: 593.298626 meters looking forward 100.000000 meters along route # Maximum depth: 599.102559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.298626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.673841; captureRadius = 10; duration = 101; initialDepth = 543.298626; finalDepth = 538.892513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4928219999999 # Actual altitude: 50.4928219999999 # Commanded vehicle depth:543.298626 # Seafloor depth:-593.791448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.417289 meters # Minimum depth: 596.592457 meters looking forward 100.000000 meters along route # Maximum depth: 600.438301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.592457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.674615; captureRadius = 10; duration = 101; initialDepth = 546.592457; finalDepth = 543.298626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.448209 # Actual altitude: 52.448209 # Commanded vehicle depth:546.592457 # Seafloor depth:-599.040666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.417671 meters # Minimum depth: 595.573402 meters looking forward 100.000000 meters along route # Maximum depth: 599.857786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.573402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.675388; captureRadius = 10; duration = 101; initialDepth = 545.573402; finalDepth = 546.592457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6212820000001 # Actual altitude: 53.6212820000001 # Commanded vehicle depth:545.573402 # Seafloor depth:-599.194684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.418054 meters # Minimum depth: 594.763087 meters looking forward 100.000000 meters along route # Maximum depth: 597.164125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.763087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.676161; captureRadius = 10; duration = 101; initialDepth = 544.763087; finalDepth = 545.573402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6212820000001 # Actual altitude: 53.6212820000001 # Commanded vehicle depth:544.763087 # Seafloor depth:-595.533633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.418435 meters # Minimum depth: 597.105452 meters looking forward 100.000000 meters along route # Maximum depth: 600.295910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.105452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.676934; captureRadius = 10; duration = 101; initialDepth = 547.105452; finalDepth = 544.763087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.770546 # Actual altitude: 50.770546 # Commanded vehicle depth:547.105452 # Seafloor depth:-597.105452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.418817 meters # Minimum depth: 598.729494 meters looking forward 100.000000 meters along route # Maximum depth: 601.118107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.729494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.677708; captureRadius = 10; duration = 101; initialDepth = 548.729494; finalDepth = 547.105452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.660636 # Actual altitude: 51.660636 # Commanded vehicle depth:548.729494 # Seafloor depth:-600.390130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.419199 meters # Minimum depth: 600.668165 meters looking forward 100.000000 meters along route # Maximum depth: 601.540707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.668165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.678481; captureRadius = 10; duration = 101; initialDepth = 550.668165; finalDepth = 548.729494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.660636 # Actual altitude: 51.660636 # Commanded vehicle depth:550.668165 # Seafloor depth:-601.335129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.419582 meters # Minimum depth: 601.160294 meters looking forward 100.000000 meters along route # Maximum depth: 603.794867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.160294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.679254; captureRadius = 10; duration = 101; initialDepth = 551.160294; finalDepth = 550.668165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.666964 # Actual altitude: 50.666964 # Commanded vehicle depth:551.160294 # Seafloor depth:-601.160294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.419963 meters # Minimum depth: 602.588211 meters looking forward 100.000000 meters along route # Maximum depth: 607.986385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.588211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.680028; captureRadius = 10; duration = 101; initialDepth = 552.588211; finalDepth = 551.160294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:552.588211 # Seafloor depth:-602.588211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.420346 meters # Minimum depth: 609.925669 meters looking forward 100.000000 meters along route # Maximum depth: 613.144423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.925669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.680801; captureRadius = 10; duration = 101; initialDepth = 559.925669; finalDepth = 552.588211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:559.925669 # Seafloor depth:-609.925669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.420727 meters # Minimum depth: 611.615043 meters looking forward 100.000000 meters along route # Maximum depth: 623.301510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.615043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.681574; captureRadius = 10; duration = 101; initialDepth = 561.615043; finalDepth = 559.925669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.260385 # Actual altitude: 50.260385 # Commanded vehicle depth:561.615043 # Seafloor depth:-611.875428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.421110 meters # Minimum depth: 623.821462 meters looking forward 100.000000 meters along route # Maximum depth: 634.019772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.821462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.682347; captureRadius = 10; duration = 101; initialDepth = 573.821462; finalDepth = 561.615043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.260385 # Actual altitude: 50.260385 # Commanded vehicle depth:573.821462 # Seafloor depth:-623.821462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.421491 meters # Minimum depth: 636.617788 meters looking forward 100.000000 meters along route # Maximum depth: 647.343538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.617788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.683121; captureRadius = 10; duration = 101; initialDepth = 586.617788; finalDepth = 573.821462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:586.617788 # Seafloor depth:-636.617788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.421874 meters # Minimum depth: 648.410815 meters looking forward 100.000000 meters along route # Maximum depth: 656.101766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.410815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.683894; captureRadius = 10; duration = 101; initialDepth = 598.410815; finalDepth = 586.617788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:598.410815 # Seafloor depth:-648.410815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.422256 meters # Minimum depth: 658.615744 meters looking forward 100.000000 meters along route # Maximum depth: 664.430537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.615744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.684667; captureRadius = 10; duration = 101; initialDepth = 608.615744; finalDepth = 598.410815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:608.615744 # Seafloor depth:-658.615744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.422638 meters # Minimum depth: 661.460137 meters looking forward 100.000000 meters along route # Maximum depth: 663.471862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.460137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.685441; captureRadius = 10; duration = 101; initialDepth = 611.460137; finalDepth = 608.615744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.942642 # Actual altitude: 51.942642 # Commanded vehicle depth:611.460137 # Seafloor depth:-663.402779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.423020 meters # Minimum depth: 662.198993 meters looking forward 100.000000 meters along route # Maximum depth: 667.869882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.198993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.686214; captureRadius = 10; duration = 101; initialDepth = 612.198993; finalDepth = 611.460137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.942642 # Actual altitude: 51.942642 # Commanded vehicle depth:612.198993 # Seafloor depth:-662.198993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.423402 meters # Minimum depth: 665.712936 meters looking forward 100.000000 meters along route # Maximum depth: 668.391663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.712936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.686987; captureRadius = 10; duration = 101; initialDepth = 615.712936; finalDepth = 612.198993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6398849999999 # Actual altitude: 50.6398849999999 # Commanded vehicle depth:615.712936 # Seafloor depth:-666.352821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.423785 meters # Minimum depth: 668.694993 meters looking forward 100.000000 meters along route # Maximum depth: 669.554994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.694993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.687760; captureRadius = 10; duration = 101; initialDepth = 618.694993; finalDepth = 615.712936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6398849999999 # Actual altitude: 50.6398849999999 # Commanded vehicle depth:618.694993 # Seafloor depth:-668.694993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.424166 meters # Minimum depth: 670.087026 meters looking forward 100.000000 meters along route # Maximum depth: 671.970523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.087026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.688534; captureRadius = 10; duration = 101; initialDepth = 620.087026; finalDepth = 618.694993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.014099 # Actual altitude: 50.014099 # Commanded vehicle depth:620.087026 # Seafloor depth:-670.101125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.424549 meters # Minimum depth: 669.990528 meters looking forward 100.000000 meters along route # Maximum depth: 673.502992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.990528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.689307; captureRadius = 10; duration = 101; initialDepth = 619.990528; finalDepth = 620.087026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.054856 # Actual altitude: 51.054856 # Commanded vehicle depth:619.990528 # Seafloor depth:-671.045384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.424931 meters # Minimum depth: 669.336405 meters looking forward 100.000000 meters along route # Maximum depth: 673.413212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.336405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.690080; captureRadius = 10; duration = 101; initialDepth = 619.336405; finalDepth = 619.990528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.076807 # Actual altitude: 54.076807 # Commanded vehicle depth:619.336405 # Seafloor depth:-673.413212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.425313 meters # Minimum depth: 671.558248 meters looking forward 100.000000 meters along route # Maximum depth: 675.339025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.558248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.690854; captureRadius = 10; duration = 101; initialDepth = 621.558248; finalDepth = 619.336405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.076807 # Actual altitude: 54.076807 # Commanded vehicle depth:621.558248 # Seafloor depth:-671.687869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.815715 meters # Minimum depth: 674.823932 meters looking forward 100.000000 meters along route # Maximum depth: 679.036113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.823932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.691627; captureRadius = 10; duration = 102; initialDepth = 624.823932; finalDepth = 621.558248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.984957 # Actual altitude: 50.984957 # Commanded vehicle depth:624.823932 # Seafloor depth:-675.808889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.036057 meters # Minimum depth: 675.300299 meters looking forward 100.000000 meters along route # Maximum depth: 679.141975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.300299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296222; longitude = -117.692411; captureRadius = 10; duration = 100; initialDepth = 625.300299; finalDepth = 624.823932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.574933 # Actual altitude: 53.574933 # Commanded vehicle depth:625.300299 # Seafloor depth:-678.875232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.426460 meters # Minimum depth: 679.671500 meters looking forward 100.000000 meters along route # Maximum depth: 693.337079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.671500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.693173; captureRadius = 10; duration = 101; initialDepth = 629.671500; finalDepth = 625.300299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.574933 # Actual altitude: 53.574933 # Commanded vehicle depth:629.6715 # Seafloor depth:-679.671500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.426841 meters # Minimum depth: 693.989971 meters looking forward 100.000000 meters along route # Maximum depth: 712.385365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.989971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.693947; captureRadius = 10; duration = 101; initialDepth = 643.989971; finalDepth = 629.671500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:643.989971 # Seafloor depth:-693.989971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.427224 meters # Minimum depth: 714.137847 meters looking forward 100.000000 meters along route # Maximum depth: 720.611745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.137847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.694720; captureRadius = 10; duration = 101; initialDepth = 664.137847; finalDepth = 643.989971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8577650000001 # Actual altitude: 52.8577650000001 # Commanded vehicle depth:664.137847 # Seafloor depth:-716.995612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.768757 meters # Minimum depth: 700.919010 meters looking forward 100.000000 meters along route # Maximum depth: 713.138866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.919010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.695493; captureRadius = 10; duration = 102; initialDepth = 650.919010; finalDepth = 664.137847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.219856 # Actual altitude: 62.219856 # Commanded vehicle depth:650.91901 # Seafloor depth:-713.138866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 248.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.086838 meters # Minimum depth: 700.982567 meters looking forward 100.000000 meters along route # Maximum depth: 703.565717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.982567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293000; longitude = -117.696277; captureRadius = 10; duration = 100; initialDepth = 650.982567; finalDepth = 650.919010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.219856 # Actual altitude: 62.219856 # Commanded vehicle depth:650.982567 # Seafloor depth:-700.982567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 248.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.428371 meters # Minimum depth: 704.761188 meters looking forward 100.000000 meters along route # Maximum depth: 722.638882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.761188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.697040; captureRadius = 10; duration = 101; initialDepth = 654.761188; finalDepth = 650.982567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:654.761188 # Seafloor depth:-704.761188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.428753 meters # Minimum depth: 723.340234 meters looking forward 100.000000 meters along route # Maximum depth: 741.522807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.340234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.697813; captureRadius = 10; duration = 101; initialDepth = 673.340234; finalDepth = 654.761188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:673.340234 # Seafloor depth:-723.340234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.429135 meters # Minimum depth: 736.117989 meters looking forward 100.000000 meters along route # Maximum depth: 741.933371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.117989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.698586; captureRadius = 10; duration = 101; initialDepth = 686.117989; finalDepth = 673.340234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.815253 # Actual altitude: 55.815253 # Commanded vehicle depth:686.117989 # Seafloor depth:-741.933242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.721795 meters # Minimum depth: 733.010904 meters looking forward 100.000000 meters along route # Maximum depth: 737.061937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.010904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.699360; captureRadius = 10; duration = 102; initialDepth = 683.010904; finalDepth = 686.117989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.815253 # Actual altitude: 55.815253 # Commanded vehicle depth:683.010904 # Seafloor depth:-734.702477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.137622 meters # Minimum depth: 737.203867 meters looking forward 100.000000 meters along route # Maximum depth: 758.956077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.203867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289779; longitude = -117.700143; captureRadius = 10; duration = 100; initialDepth = 687.203867; finalDepth = 683.010904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6915730000001 # Actual altitude: 51.6915730000001 # Commanded vehicle depth:687.203867 # Seafloor depth:-737.203867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.430282 meters # Minimum depth: 759.959075 meters looking forward 100.000000 meters along route # Maximum depth: 763.296969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.959075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289143; longitude = -117.700906; captureRadius = 10; duration = 101; initialDepth = 709.959075; finalDepth = 687.203867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:709.959075 # Seafloor depth:-759.959075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.430664 meters # Minimum depth: 762.949708 meters looking forward 100.000000 meters along route # Maximum depth: 763.562678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.949708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.701679; captureRadius = 10; duration = 101; initialDepth = 712.949708; finalDepth = 709.959075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.218429 # Actual altitude: 50.218429 # Commanded vehicle depth:712.949708 # Seafloor depth:-763.168137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.431047 meters # Minimum depth: 760.283251 meters looking forward 100.000000 meters along route # Maximum depth: 765.380239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.283251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.702453; captureRadius = 10; duration = 101; initialDepth = 710.283251; finalDepth = 712.949708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.681133 # Actual altitude: 51.681133 # Commanded vehicle depth:710.283251 # Seafloor depth:-761.964384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.674832 meters # Minimum depth: 765.255914 meters looking forward 100.000000 meters along route # Maximum depth: 765.470860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.255914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.703226; captureRadius = 10; duration = 102; initialDepth = 715.255914; finalDepth = 710.283251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.681133 # Actual altitude: 51.681133 # Commanded vehicle depth:715.255914 # Seafloor depth:-765.283290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.188408 meters # Minimum depth: 765.475292 meters looking forward 100.000000 meters along route # Maximum depth: 765.781079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.475292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286558; longitude = -117.704009; captureRadius = 10; duration = 100; initialDepth = 715.475292; finalDepth = 715.255914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.027376 # Actual altitude: 50.027376 # Commanded vehicle depth:715.475292 # Seafloor depth:-765.475292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.432193 meters # Minimum depth: 765.841277 meters looking forward 100.000000 meters along route # Maximum depth: 766.379327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.841277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285921; longitude = -117.704773; captureRadius = 10; duration = 101; initialDepth = 715.841277; finalDepth = 715.475292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.841277 # Seafloor depth:-765.841277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.432576 meters # Minimum depth: 766.408884 meters looking forward 100.000000 meters along route # Maximum depth: 767.065704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.408884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.705546; captureRadius = 10; duration = 101; initialDepth = 716.408884; finalDepth = 715.841277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.408884 # Seafloor depth:-766.408884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.432958 meters # Minimum depth: 767.274134 meters looking forward 100.000000 meters along route # Maximum depth: 768.301483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.274134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284632; longitude = -117.706319; captureRadius = 10; duration = 101; initialDepth = 717.274134; finalDepth = 716.408884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:717.274134 # Seafloor depth:-767.274134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 117.603817 meters # Minimum depth: 768.429630 meters looking forward 100.000000 meters along route # Maximum depth: 769.870163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.429630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283988; longitude = -117.707092; captureRadius = 10; duration = 117; initialDepth = 718.429630; finalDepth = 717.274134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.42963 # Seafloor depth:-768.429630 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 49.608911 meters # Minimum depth: 769.347674 meters looking forward 100.000000 meters along route # Maximum depth: 770.105469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.347674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283241; longitude = -117.707989; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 719.347674; finalDepth = 718.429630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.757795 # Actual altitude: 50.757795 # Commanded vehicle depth:719.347674 # Seafloor depth:-770.105469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.389340 meters # Minimum depth: 769.323640 meters looking forward 100.000000 meters along route # Maximum depth: 769.843647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.323640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283559; longitude = -117.708364; captureRadius = 10; duration = 100; initialDepth = 719.323640; finalDepth = 719.347674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.757795 # Actual altitude: 50.757795 # Commanded vehicle depth:719.32364 # Seafloor depth:-769.843647 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 6 at end of line 6 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.589885; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.589885; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1582; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 34.100648 meters # Minimum depth: 768.777730 meters looking forward 100.000000 meters along route # Maximum depth: 769.528698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.777730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284201; longitude = -117.709124; captureRadius = 10; duration = 34; # abortOnTimeout = True; initialDepth = 718.777730; finalDepth = 719.323640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.526713 # Actual altitude: 50.526713 # Commanded vehicle depth:718.77773 # Seafloor depth:-769.304443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.582078 meters # Minimum depth: 767.124401 meters looking forward 100.000000 meters along route # Maximum depth: 768.603352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.124401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.708864; captureRadius = 10; duration = 101; initialDepth = 717.124401; finalDepth = 718.777730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4789509999999 # Actual altitude: 51.4789509999999 # Commanded vehicle depth:717.124401 # Seafloor depth:-768.603352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.283017 meters # Minimum depth: 766.066842 meters looking forward 100.000000 meters along route # Maximum depth: 767.122333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.066842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285063; longitude = -117.708090; captureRadius = 10; duration = 101; initialDepth = 716.066842; finalDepth = 717.124401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4789509999999 # Actual altitude: 51.4789509999999 # Commanded vehicle depth:716.066842 # Seafloor depth:-767.122333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.431973 meters # Minimum depth: 765.109381 meters looking forward 100.000000 meters along route # Maximum depth: 765.886138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.109381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.707317; captureRadius = 10; duration = 101; initialDepth = 715.109381; finalDepth = 716.066842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0554910000001 # Actual altitude: 51.0554910000001 # Commanded vehicle depth:715.109381 # Seafloor depth:-765.886138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.431592 meters # Minimum depth: 764.932200 meters looking forward 100.000000 meters along route # Maximum depth: 765.083085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.932200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.706544; captureRadius = 10; duration = 101; initialDepth = 714.932200; finalDepth = 715.109381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.776757 # Actual altitude: 50.776757 # Commanded vehicle depth:714.9322 # Seafloor depth:-765.083085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.431209 meters # Minimum depth: 765.022481 meters looking forward 100.000000 meters along route # Maximum depth: 765.796867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.022481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.705771; captureRadius = 10; duration = 101; initialDepth = 715.022481; finalDepth = 714.932200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.150885 # Actual altitude: 50.150885 # Commanded vehicle depth:715.022481 # Seafloor depth:-765.022481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.531265 meters # Minimum depth: 765.877961 meters looking forward 100.000000 meters along route # Maximum depth: 766.241712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.877961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.704998; captureRadius = 10; duration = 101; initialDepth = 715.877961; finalDepth = 715.022481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.877961 # Seafloor depth:-765.877961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.330005 meters # Minimum depth: 765.171852 meters looking forward 100.000000 meters along route # Maximum depth: 766.301087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.171852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.704224; captureRadius = 10; duration = 101; initialDepth = 715.171852; finalDepth = 715.877961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0663420000001 # Actual altitude: 51.0663420000001 # Commanded vehicle depth:715.171852 # Seafloor depth:-766.238194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.430062 meters # Minimum depth: 764.423899 meters looking forward 100.000000 meters along route # Maximum depth: 766.579901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.423899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.703451; captureRadius = 10; duration = 101; initialDepth = 714.423899; finalDepth = 715.171852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0663420000001 # Actual altitude: 51.0663420000001 # Commanded vehicle depth:714.423899 # Seafloor depth:-764.423899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.429680 meters # Minimum depth: 760.363271 meters looking forward 100.000000 meters along route # Maximum depth: 767.696180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.363271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.702678; captureRadius = 10; duration = 101; initialDepth = 710.363271; finalDepth = 714.423899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.433872 # Actual altitude: 56.433872 # Commanded vehicle depth:710.363271 # Seafloor depth:-766.797143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.429297 meters # Minimum depth: 736.028493 meters looking forward 100.000000 meters along route # Maximum depth: 754.109480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.028493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.701904; captureRadius = 10; duration = 101; initialDepth = 686.028493; finalDepth = 710.363271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0809869999999 # Actual altitude: 68.0809869999999 # Commanded vehicle depth:686.028493 # Seafloor depth:-754.109480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 272.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.480455 meters # Minimum depth: 733.179850 meters looking forward 100.000000 meters along route # Maximum depth: 738.406716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.179850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.701131; captureRadius = 10; duration = 101; initialDepth = 683.179850; finalDepth = 686.028493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0809869999999 # Actual altitude: 68.0809869999999 # Commanded vehicle depth:683.17985 # Seafloor depth:-734.234239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 272.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.376993 meters # Minimum depth: 738.412578 meters looking forward 100.000000 meters along route # Maximum depth: 740.419733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.412578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291506; longitude = -117.700358; captureRadius = 10; duration = 101; initialDepth = 688.412578; finalDepth = 683.179850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.054389 # Actual altitude: 51.054389 # Commanded vehicle depth:688.412578 # Seafloor depth:-738.412578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.428150 meters # Minimum depth: 718.931314 meters looking forward 100.000000 meters along route # Maximum depth: 736.871230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.931314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.699585; captureRadius = 10; duration = 101; initialDepth = 668.931314; finalDepth = 688.412578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9399159999999 # Actual altitude: 67.9399159999999 # Commanded vehicle depth:668.931314 # Seafloor depth:-736.871230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.427769 meters # Minimum depth: 711.431090 meters looking forward 100.000000 meters along route # Maximum depth: 718.293779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.431090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.698811; captureRadius = 10; duration = 101; initialDepth = 661.431090; finalDepth = 668.931314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9399159999999 # Actual altitude: 67.9399159999999 # Commanded vehicle depth:661.43109 # Seafloor depth:-718.293779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.427386 meters # Minimum depth: 699.570061 meters looking forward 100.000000 meters along route # Maximum depth: 709.738562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.570061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.698038; captureRadius = 10; duration = 101; initialDepth = 649.570061; finalDepth = 661.431090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.168501 # Actual altitude: 60.168501 # Commanded vehicle depth:649.570061 # Seafloor depth:-709.738562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.429646 meters # Minimum depth: 694.494031 meters looking forward 100.000000 meters along route # Maximum depth: 701.263396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.494031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.697265; captureRadius = 10; duration = 101; initialDepth = 644.494031; finalDepth = 649.570061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.168501 # Actual altitude: 60.168501 # Commanded vehicle depth:644.494031 # Seafloor depth:-700.089068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.423979 meters # Minimum depth: 690.193875 meters looking forward 100.000000 meters along route # Maximum depth: 694.494039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.193875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.696491; captureRadius = 10; duration = 101; initialDepth = 640.193875; finalDepth = 644.494031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.595037 # Actual altitude: 55.595037 # Commanded vehicle depth:640.193875 # Seafloor depth:-694.494039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.426239 meters # Minimum depth: 686.176684 meters looking forward 100.000000 meters along route # Maximum depth: 689.830609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.176684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.695718; captureRadius = 10; duration = 101; initialDepth = 636.176684; finalDepth = 640.193875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.300164 # Actual altitude: 54.300164 # Commanded vehicle depth:636.176684 # Seafloor depth:-689.679519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.425857 meters # Minimum depth: 680.656554 meters looking forward 100.000000 meters along route # Maximum depth: 685.417210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.656554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.694945; captureRadius = 10; duration = 101; initialDepth = 630.656554; finalDepth = 636.176684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7606559999999 # Actual altitude: 54.7606559999999 # Commanded vehicle depth:630.656554 # Seafloor depth:-685.417210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.425475 meters # Minimum depth: 679.276683 meters looking forward 100.000000 meters along route # Maximum depth: 681.994110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.276683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.694172; captureRadius = 10; duration = 101; initialDepth = 629.276683; finalDepth = 630.656554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7606559999999 # Actual altitude: 54.7606559999999 # Commanded vehicle depth:629.276683 # Seafloor depth:-679.276683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.425092 meters # Minimum depth: 679.239713 meters looking forward 100.000000 meters along route # Maximum depth: 680.668753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.239713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.693398; captureRadius = 10; duration = 101; initialDepth = 629.239713; finalDepth = 629.276683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.695198 # Actual altitude: 50.695198 # Commanded vehicle depth:629.239713 # Seafloor depth:-679.934911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.424710 meters # Minimum depth: 676.128398 meters looking forward 100.000000 meters along route # Maximum depth: 679.239444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.128398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.692625; captureRadius = 10; duration = 101; initialDepth = 626.128398; finalDepth = 629.239713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1110460000001 # Actual altitude: 53.1110460000001 # Commanded vehicle depth:626.128398 # Seafloor depth:-679.239444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.424329 meters # Minimum depth: 673.426616 meters looking forward 100.000000 meters along route # Maximum depth: 677.026071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.426616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.691852; captureRadius = 10; duration = 101; initialDepth = 623.426616; finalDepth = 626.128398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.599455 # Actual altitude: 53.599455 # Commanded vehicle depth:623.426616 # Seafloor depth:-677.026071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.423946 meters # Minimum depth: 671.716759 meters looking forward 100.000000 meters along route # Maximum depth: 674.240598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.716759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.691079; captureRadius = 10; duration = 101; initialDepth = 621.716759; finalDepth = 623.426616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.599455 # Actual altitude: 53.599455 # Commanded vehicle depth:621.716759 # Seafloor depth:-673.746762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.423563 meters # Minimum depth: 668.367885 meters looking forward 100.000000 meters along route # Maximum depth: 671.617673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.367885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.690305; captureRadius = 10; duration = 101; initialDepth = 618.367885; finalDepth = 621.716759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.249788 # Actual altitude: 53.249788 # Commanded vehicle depth:618.367885 # Seafloor depth:-671.617673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.423182 meters # Minimum depth: 667.127380 meters looking forward 100.000000 meters along route # Maximum depth: 669.543941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.127380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.689532; captureRadius = 10; duration = 101; initialDepth = 617.127380; finalDepth = 618.367885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.249788 # Actual altitude: 53.249788 # Commanded vehicle depth:617.12738 # Seafloor depth:-669.543941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.422799 meters # Minimum depth: 666.480584 meters looking forward 100.000000 meters along route # Maximum depth: 671.413912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.480584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.688759; captureRadius = 10; duration = 101; initialDepth = 616.480584; finalDepth = 617.127380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.416561 # Actual altitude: 52.416561 # Commanded vehicle depth:616.480584 # Seafloor depth:-667.991930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.422418 meters # Minimum depth: 666.587521 meters looking forward 100.000000 meters along route # Maximum depth: 670.907327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.587521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.687985; captureRadius = 10; duration = 101; initialDepth = 616.587521; finalDepth = 616.480584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.511346 # Actual altitude: 51.511346 # Commanded vehicle depth:616.587521 # Seafloor depth:-666.587521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.422035 meters # Minimum depth: 664.635322 meters looking forward 100.000000 meters along route # Maximum depth: 668.140285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.635322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.687212; captureRadius = 10; duration = 101; initialDepth = 614.635322; finalDepth = 616.587521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.504963 # Actual altitude: 53.504963 # Commanded vehicle depth:614.635322 # Seafloor depth:-668.140285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.421653 meters # Minimum depth: 657.341829 meters looking forward 100.000000 meters along route # Maximum depth: 664.590004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.341829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.686439; captureRadius = 10; duration = 101; initialDepth = 607.341829; finalDepth = 614.635322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2481750000001 # Actual altitude: 57.2481750000001 # Commanded vehicle depth:607.341829 # Seafloor depth:-664.590004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 228.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.421271 meters # Minimum depth: 646.212197 meters looking forward 100.000000 meters along route # Maximum depth: 656.269619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.212197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.685666; captureRadius = 10; duration = 101; initialDepth = 596.212197; finalDepth = 607.341829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0574220000001 # Actual altitude: 60.0574220000001 # Commanded vehicle depth:596.212197 # Seafloor depth:-656.269619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.420888 meters # Minimum depth: 637.134532 meters looking forward 100.000000 meters along route # Maximum depth: 646.197129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.134532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.684892; captureRadius = 10; duration = 101; initialDepth = 587.134532; finalDepth = 596.212197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0574220000001 # Actual altitude: 60.0574220000001 # Commanded vehicle depth:587.134532 # Seafloor depth:-646.197129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.420507 meters # Minimum depth: 624.031209 meters looking forward 100.000000 meters along route # Maximum depth: 635.217914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.031209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.684119; captureRadius = 10; duration = 101; initialDepth = 574.031209; finalDepth = 587.134532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.186705 # Actual altitude: 61.186705 # Commanded vehicle depth:574.031209 # Seafloor depth:-635.217914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 244.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.420125 meters # Minimum depth: 616.537963 meters looking forward 100.000000 meters along route # Maximum depth: 623.306890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.537963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.683346; captureRadius = 10; duration = 101; initialDepth = 566.537963; finalDepth = 574.031209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.186705 # Actual altitude: 61.186705 # Commanded vehicle depth:566.537963 # Seafloor depth:-623.306890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 244.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.419742 meters # Minimum depth: 613.746993 meters looking forward 100.000000 meters along route # Maximum depth: 616.562004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.746993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.682572; captureRadius = 10; duration = 101; initialDepth = 563.746993; finalDepth = 566.537963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.768927 # Actual altitude: 56.768927 # Commanded vehicle depth:563.746993 # Seafloor depth:-616.562004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.419360 meters # Minimum depth: 609.164242 meters looking forward 100.000000 meters along route # Maximum depth: 613.403611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.164242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.681799; captureRadius = 10; duration = 101; initialDepth = 559.164242; finalDepth = 563.746993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.239369 # Actual altitude: 54.239369 # Commanded vehicle depth:559.164242 # Seafloor depth:-613.403611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 216.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.418979 meters # Minimum depth: 606.351221 meters looking forward 100.000000 meters along route # Maximum depth: 610.069722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.351221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.681026; captureRadius = 10; duration = 101; initialDepth = 556.351221; finalDepth = 559.164242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.239369 # Actual altitude: 54.239369 # Commanded vehicle depth:556.351221 # Seafloor depth:-609.666740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 216.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.418596 meters # Minimum depth: 603.092675 meters looking forward 100.000000 meters along route # Maximum depth: 605.489453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.092675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.680253; captureRadius = 10; duration = 101; initialDepth = 553.092675; finalDepth = 556.351221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.315519 # Actual altitude: 53.315519 # Commanded vehicle depth:553.092675 # Seafloor depth:-605.486973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.418214 meters # Minimum depth: 600.739117 meters looking forward 100.000000 meters along route # Maximum depth: 602.913239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.739117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.679479; captureRadius = 10; duration = 101; initialDepth = 550.739117; finalDepth = 553.092675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.394298 # Actual altitude: 52.394298 # Commanded vehicle depth:550.739117 # Seafloor depth:-602.913239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.417832 meters # Minimum depth: 599.122397 meters looking forward 100.000000 meters along route # Maximum depth: 600.746569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.122397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.678706; captureRadius = 10; duration = 101; initialDepth = 549.122397; finalDepth = 550.739117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.174122 # Actual altitude: 52.174122 # Commanded vehicle depth:549.122397 # Seafloor depth:-599.878300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.417450 meters # Minimum depth: 593.795608 meters looking forward 100.000000 meters along route # Maximum depth: 598.901148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.795608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.677933; captureRadius = 10; duration = 101; initialDepth = 543.795608; finalDepth = 549.122397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.10554 # Actual altitude: 55.10554 # Commanded vehicle depth:543.795608 # Seafloor depth:-598.901148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.417068 meters # Minimum depth: 591.867911 meters looking forward 100.000000 meters along route # Maximum depth: 596.147741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.867911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.677159; captureRadius = 10; duration = 101; initialDepth = 541.867911; finalDepth = 543.795608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.10554 # Actual altitude: 55.10554 # Commanded vehicle depth:541.867911 # Seafloor depth:-596.147741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.416686 meters # Minimum depth: 591.632070 meters looking forward 100.000000 meters along route # Maximum depth: 595.242887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.632070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.676386; captureRadius = 10; duration = 101; initialDepth = 541.632070; finalDepth = 541.867911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2798299999999 # Actual altitude: 54.2798299999999 # Commanded vehicle depth:541.63207 # Seafloor depth:-591.632070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.416304 meters # Minimum depth: 589.803471 meters looking forward 100.000000 meters along route # Maximum depth: 593.052679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.803471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.675613; captureRadius = 10; duration = 101; initialDepth = 539.803471; finalDepth = 541.632070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2492080000001 # Actual altitude: 53.2492080000001 # Commanded vehicle depth:539.803471 # Seafloor depth:-593.052679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.415922 meters # Minimum depth: 584.799623 meters looking forward 100.000000 meters along route # Maximum depth: 589.366595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.799623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.674840; captureRadius = 10; duration = 101; initialDepth = 534.799623; finalDepth = 539.803471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.566972 # Actual altitude: 54.566972 # Commanded vehicle depth:534.799623 # Seafloor depth:-589.366595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.415540 meters # Minimum depth: 577.416934 meters looking forward 100.000000 meters along route # Maximum depth: 583.943973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.416934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.674066; captureRadius = 10; duration = 101; initialDepth = 527.416934; finalDepth = 534.799623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5270390000001 # Actual altitude: 56.5270390000001 # Commanded vehicle depth:527.416934 # Seafloor depth:-583.943973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.415158 meters # Minimum depth: 574.624738 meters looking forward 100.000000 meters along route # Maximum depth: 577.415590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.624738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.673293; captureRadius = 10; duration = 101; initialDepth = 524.624738; finalDepth = 527.416934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5270390000001 # Actual altitude: 56.5270390000001 # Commanded vehicle depth:524.624738 # Seafloor depth:-577.415590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.414776 meters # Minimum depth: 572.697116 meters looking forward 100.000000 meters along route # Maximum depth: 575.197872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.697116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.672520; captureRadius = 10; duration = 101; initialDepth = 522.697116; finalDepth = 524.624738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.790852 # Actual altitude: 52.790852 # Commanded vehicle depth:522.697116 # Seafloor depth:-575.197872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.414394 meters # Minimum depth: 567.771418 meters looking forward 100.000000 meters along route # Maximum depth: 572.442191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.771418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.671746; captureRadius = 10; duration = 101; initialDepth = 517.771418; finalDepth = 522.697116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6707729999999 # Actual altitude: 54.6707729999999 # Commanded vehicle depth:517.771418 # Seafloor depth:-572.442191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.414012 meters # Minimum depth: 564.049500 meters looking forward 100.000000 meters along route # Maximum depth: 566.226722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.049500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.670973; captureRadius = 10; duration = 101; initialDepth = 514.049500; finalDepth = 517.771418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6707729999999 # Actual altitude: 54.6707729999999 # Commanded vehicle depth:514.0495 # Seafloor depth:-566.226722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.413630 meters # Minimum depth: 559.588087 meters looking forward 100.000000 meters along route # Maximum depth: 563.989432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.588087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.670200; captureRadius = 10; duration = 101; initialDepth = 509.588087; finalDepth = 514.049500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.401345 # Actual altitude: 54.401345 # Commanded vehicle depth:509.588087 # Seafloor depth:-563.989432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.413248 meters # Minimum depth: 554.707380 meters looking forward 100.000000 meters along route # Maximum depth: 559.592989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.707380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.669427; captureRadius = 10; duration = 101; initialDepth = 504.707380; finalDepth = 509.588087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.885609 # Actual altitude: 54.885609 # Commanded vehicle depth:504.70738 # Seafloor depth:-559.592989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.412866 meters # Minimum depth: 546.861816 meters looking forward 100.000000 meters along route # Maximum depth: 553.151937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.861816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.668653; captureRadius = 10; duration = 101; initialDepth = 496.861816; finalDepth = 504.707380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290121 # Actual altitude: 56.290121 # Commanded vehicle depth:496.861816 # Seafloor depth:-553.151937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.412485 meters # Minimum depth: 544.443006 meters looking forward 100.000000 meters along route # Maximum depth: 546.774539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.443006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.667880; captureRadius = 10; duration = 101; initialDepth = 494.443006; finalDepth = 496.861816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290121 # Actual altitude: 56.290121 # Commanded vehicle depth:494.443006 # Seafloor depth:-546.774539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.412102 meters # Minimum depth: 533.389713 meters looking forward 100.000000 meters along route # Maximum depth: 542.703674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.389713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.667107; captureRadius = 10; duration = 101; initialDepth = 483.389713; finalDepth = 494.443006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.3139609999999 # Actual altitude: 59.3139609999999 # Commanded vehicle depth:483.389713 # Seafloor depth:-542.703674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 237.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.411720 meters # Minimum depth: 522.604058 meters looking forward 100.000000 meters along route # Maximum depth: 532.928844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.604058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.666334; captureRadius = 10; duration = 101; initialDepth = 472.604058; finalDepth = 483.389713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.324786 # Actual altitude: 60.324786 # Commanded vehicle depth:472.604058 # Seafloor depth:-532.928844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.411339 meters # Minimum depth: 512.555801 meters looking forward 100.000000 meters along route # Maximum depth: 522.547220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.555801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.665560; captureRadius = 10; duration = 101; initialDepth = 462.555801; finalDepth = 472.604058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.324786 # Actual altitude: 60.324786 # Commanded vehicle depth:462.555801 # Seafloor depth:-522.547220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.410956 meters # Minimum depth: 493.477805 meters looking forward 100.000000 meters along route # Maximum depth: 509.100148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.477805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.664787; captureRadius = 10; duration = 101; initialDepth = 443.477805; finalDepth = 462.555801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.622343 # Actual altitude: 65.622343 # Commanded vehicle depth:443.477805 # Seafloor depth:-509.100148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.410575 meters # Minimum depth: 480.422597 meters looking forward 100.000000 meters along route # Maximum depth: 492.850425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.422597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.664014; captureRadius = 10; duration = 101; initialDepth = 430.422597; finalDepth = 443.477805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.622343 # Actual altitude: 65.622343 # Commanded vehicle depth:430.422597 # Seafloor depth:-492.850425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.410193 meters # Minimum depth: 458.431520 meters looking forward 100.000000 meters along route # Maximum depth: 476.707876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.431520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.663240; captureRadius = 10; duration = 101; initialDepth = 408.431520; finalDepth = 430.422597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.276356 # Actual altitude: 68.276356 # Commanded vehicle depth:408.43152 # Seafloor depth:-476.707876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 273.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.409811 meters # Minimum depth: 448.139326 meters looking forward 100.000000 meters along route # Maximum depth: 457.785717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.139326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.662467; captureRadius = 10; duration = 101; initialDepth = 398.139326; finalDepth = 408.431520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.276356 # Actual altitude: 68.276356 # Commanded vehicle depth:398.139326 # Seafloor depth:-457.785717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 273.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.409429 meters # Minimum depth: 441.616980 meters looking forward 100.000000 meters along route # Maximum depth: 448.105989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.616980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.661694; captureRadius = 10; duration = 101; initialDepth = 391.616980; finalDepth = 398.139326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.646391 # Actual altitude: 59.646391 # Commanded vehicle depth:391.61698 # Seafloor depth:-448.105989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 238.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.409047 meters # Minimum depth: 428.025875 meters looking forward 100.000000 meters along route # Maximum depth: 439.404044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.025875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.660921; captureRadius = 10; duration = 101; initialDepth = 378.025875; finalDepth = 391.616980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.378169 # Actual altitude: 61.378169 # Commanded vehicle depth:378.025875 # Seafloor depth:-439.404044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.408665 meters # Minimum depth: 419.396340 meters looking forward 100.000000 meters along route # Maximum depth: 427.187100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.396340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.660147; captureRadius = 10; duration = 101; initialDepth = 369.396340; finalDepth = 378.025875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.378169 # Actual altitude: 61.378169 # Commanded vehicle depth:369.39634 # Seafloor depth:-427.187100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.408284 meters # Minimum depth: 408.165924 meters looking forward 100.000000 meters along route # Maximum depth: 417.004303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.165924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325655; longitude = -117.659374; captureRadius = 10; duration = 101; initialDepth = 358.165924; finalDepth = 369.396340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.838379 # Actual altitude: 58.838379 # Commanded vehicle depth:358.165924 # Seafloor depth:-417.004303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.407902 meters # Minimum depth: 398.996032 meters looking forward 100.000000 meters along route # Maximum depth: 406.624330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.996032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326300; longitude = -117.658601; captureRadius = 10; duration = 101; initialDepth = 348.996032; finalDepth = 358.165924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.838379 # Actual altitude: 58.838379 # Commanded vehicle depth:348.996032 # Seafloor depth:-406.624330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.407519 meters # Minimum depth: 384.838584 meters looking forward 100.000000 meters along route # Maximum depth: 398.895300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.838584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326944; longitude = -117.657827; captureRadius = 10; duration = 101; initialDepth = 334.838584; finalDepth = 348.996032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.056716 # Actual altitude: 64.056716 # Commanded vehicle depth:334.838584 # Seafloor depth:-398.895300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 256.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.407138 meters # Minimum depth: 376.018241 meters looking forward 100.000000 meters along route # Maximum depth: 384.164124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.018241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327588; longitude = -117.657054; captureRadius = 10; duration = 101; initialDepth = 326.018241; finalDepth = 334.838584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.056716 # Actual altitude: 64.056716 # Commanded vehicle depth:326.018241 # Seafloor depth:-384.164124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 256.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.406757 meters # Minimum depth: 372.900291 meters looking forward 100.000000 meters along route # Maximum depth: 382.169082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.900291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328233; longitude = -117.656281; captureRadius = 10; duration = 101; initialDepth = 322.900291; finalDepth = 326.018241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.268791 # Actual altitude: 59.268791 # Commanded vehicle depth:322.900291 # Seafloor depth:-382.169082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 237.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.406374 meters # Minimum depth: 346.708685 meters looking forward 100.000000 meters along route # Maximum depth: 362.640330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.708685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328877; longitude = -117.655508; captureRadius = 10; duration = 101; initialDepth = 296.708685; finalDepth = 322.900291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.931645 # Actual altitude: 65.931645 # Commanded vehicle depth:296.708685 # Seafloor depth:-362.640330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 263.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.405993 meters # Minimum depth: 337.654959 meters looking forward 100.000000 meters along route # Maximum depth: 346.099559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.654959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329521; longitude = -117.654734; captureRadius = 10; duration = 101; initialDepth = 287.654959; finalDepth = 296.708685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.931645 # Actual altitude: 65.931645 # Commanded vehicle depth:287.654959 # Seafloor depth:-346.099559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 263.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.677707 meters # Minimum depth: 315.662321 meters looking forward 100.000000 meters along route # Maximum depth: 337.536047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.662321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330166; longitude = -117.653961; captureRadius = 10; duration = 110; initialDepth = 265.662321; finalDepth = 287.654959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.873726 # Actual altitude: 71.873726 # Commanded vehicle depth:265.662321 # Seafloor depth:-337.536047 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 287.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 26.931005 meters # Minimum depth: 312.662118 meters looking forward 100.000000 meters along route # Maximum depth: 325.894335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.662118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330869; longitude = -117.653117; captureRadius = 10; duration = 26; # abortOnTimeout = True; initialDepth = 262.662118; finalDepth = 265.662321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.873726 # Actual altitude: 71.873726 # Commanded vehicle depth:262.662118 # Seafloor depth:-313.924057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 287.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 123.104864 meters # Minimum depth: 307.605609 meters looking forward 100.000000 meters along route # Maximum depth: 312.477401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.605609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331041; longitude = -117.653321; captureRadius = 10; duration = 123; initialDepth = 257.605609; finalDepth = 262.662118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.871792 # Actual altitude: 54.871792 # Commanded vehicle depth:257.605609 # Seafloor depth:-312.477401 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 4 at end of line 4 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.605842; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.605842; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 628; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 25.305491 meters # Minimum depth: 305.533752 meters looking forward 100.000000 meters along route # Maximum depth: 311.744163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.533752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331830; longitude = -117.654252; captureRadius = 10; duration = 25; # abortOnTimeout = True; initialDepth = 255.533752; finalDepth = 257.605609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.871792 # Actual altitude: 54.871792 # Commanded vehicle depth:255.533752 # Seafloor depth:-305.533752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.404040 meters # Minimum depth: 306.970357 meters looking forward 100.000000 meters along route # Maximum depth: 313.823631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.970357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331669; longitude = -117.654445; captureRadius = 10; duration = 101; initialDepth = 256.970357; finalDepth = 255.533752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:256.970357 # Seafloor depth:-306.970357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.404422 meters # Minimum depth: 316.179389 meters looking forward 100.000000 meters along route # Maximum depth: 335.355445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.179389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331025; longitude = -117.655218; captureRadius = 10; duration = 101; initialDepth = 266.179389; finalDepth = 256.970357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:266.179389 # Seafloor depth:-316.179389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.404803 meters # Minimum depth: 333.260821 meters looking forward 100.000000 meters along route # Maximum depth: 341.659321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.260821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330381; longitude = -117.655992; captureRadius = 10; duration = 101; initialDepth = 283.260821; finalDepth = 266.179389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.810999 # Actual altitude: 54.810999 # Commanded vehicle depth:283.260821 # Seafloor depth:-338.071820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.405185 meters # Minimum depth: 333.255179 meters looking forward 100.000000 meters along route # Maximum depth: 334.874733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.255179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329736; longitude = -117.656765; captureRadius = 10; duration = 101; initialDepth = 283.255179; finalDepth = 283.260821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.810999 # Actual altitude: 54.810999 # Commanded vehicle depth:283.255179 # Seafloor depth:-333.255179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.405567 meters # Minimum depth: 336.606686 meters looking forward 100.000000 meters along route # Maximum depth: 366.995966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.606686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329092; longitude = -117.657538; captureRadius = 10; duration = 101; initialDepth = 286.606686; finalDepth = 283.255179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:286.606686 # Seafloor depth:-336.606686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.405949 meters # Minimum depth: 368.995804 meters looking forward 100.000000 meters along route # Maximum depth: 386.669785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.995804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328448; longitude = -117.658311; captureRadius = 10; duration = 101; initialDepth = 318.995804; finalDepth = 286.606686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:318.995804 # Seafloor depth:-368.995804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.406331 meters # Minimum depth: 391.529784 meters looking forward 100.000000 meters along route # Maximum depth: 403.267669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.529784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327803; longitude = -117.659085; captureRadius = 10; duration = 101; initialDepth = 341.529784; finalDepth = 318.995804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:341.529784 # Seafloor depth:-391.529784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.406712 meters # Minimum depth: 404.114476 meters looking forward 100.000000 meters along route # Maximum depth: 411.421879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.114476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327159; longitude = -117.659858; captureRadius = 10; duration = 101; initialDepth = 354.114476; finalDepth = 341.529784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:354.114476 # Seafloor depth:-404.114476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.407095 meters # Minimum depth: 411.500405 meters looking forward 100.000000 meters along route # Maximum depth: 417.635251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.500405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326514; longitude = -117.660631; captureRadius = 10; duration = 101; initialDepth = 361.500405; finalDepth = 354.114476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:361.500405 # Seafloor depth:-411.500405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.407476 meters # Minimum depth: 419.227523 meters looking forward 100.000000 meters along route # Maximum depth: 427.709810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.227523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.661404; captureRadius = 10; duration = 101; initialDepth = 369.227523; finalDepth = 361.500405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:369.227523 # Seafloor depth:-419.227523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.407858 meters # Minimum depth: 428.599101 meters looking forward 100.000000 meters along route # Maximum depth: 437.482306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.599101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.662178; captureRadius = 10; duration = 101; initialDepth = 378.599101; finalDepth = 369.227523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:378.599101 # Seafloor depth:-428.599101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.408240 meters # Minimum depth: 439.530445 meters looking forward 100.000000 meters along route # Maximum depth: 451.851988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.530445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.662951; captureRadius = 10; duration = 101; initialDepth = 389.530445; finalDepth = 378.599101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:389.530445 # Seafloor depth:-439.530445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.408622 meters # Minimum depth: 454.147031 meters looking forward 100.000000 meters along route # Maximum depth: 471.730638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.147031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.663724; captureRadius = 10; duration = 101; initialDepth = 404.147031; finalDepth = 389.530445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:404.147031 # Seafloor depth:-454.147031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.409004 meters # Minimum depth: 472.020154 meters looking forward 100.000000 meters along route # Maximum depth: 486.806402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.020154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.664497; captureRadius = 10; duration = 101; initialDepth = 422.020154; finalDepth = 404.147031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:422.020154 # Seafloor depth:-472.020154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.409385 meters # Minimum depth: 490.161364 meters looking forward 100.000000 meters along route # Maximum depth: 505.564922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.161364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.665271; captureRadius = 10; duration = 101; initialDepth = 440.161364; finalDepth = 422.020154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:440.161364 # Seafloor depth:-490.161364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.409768 meters # Minimum depth: 506.700575 meters looking forward 100.000000 meters along route # Maximum depth: 517.814199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.700575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.666044; captureRadius = 10; duration = 101; initialDepth = 456.700575; finalDepth = 440.161364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.700575 # Seafloor depth:-506.700575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.410150 meters # Minimum depth: 520.872165 meters looking forward 100.000000 meters along route # Maximum depth: 527.672302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.872165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.666817; captureRadius = 10; duration = 101; initialDepth = 470.872165; finalDepth = 456.700575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:470.872165 # Seafloor depth:-520.872165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.410531 meters # Minimum depth: 528.625593 meters looking forward 100.000000 meters along route # Maximum depth: 534.696632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.625593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.667590; captureRadius = 10; duration = 101; initialDepth = 478.625593; finalDepth = 470.872165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.625593 # Seafloor depth:-528.625593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.410913 meters # Minimum depth: 534.775712 meters looking forward 100.000000 meters along route # Maximum depth: 537.740709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.775712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.668364; captureRadius = 10; duration = 101; initialDepth = 484.775712; finalDepth = 478.625593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:484.775712 # Seafloor depth:-534.775712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.411296 meters # Minimum depth: 535.784050 meters looking forward 100.000000 meters along route # Maximum depth: 541.785794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.784050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.669137; captureRadius = 10; duration = 101; initialDepth = 485.784050; finalDepth = 484.775712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.78405 # Seafloor depth:-535.784050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.411677 meters # Minimum depth: 541.217658 meters looking forward 100.000000 meters along route # Maximum depth: 545.424938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.217658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.669910; captureRadius = 10; duration = 101; initialDepth = 491.217658; finalDepth = 485.784050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:491.217658 # Seafloor depth:-541.217658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.412059 meters # Minimum depth: 544.707245 meters looking forward 100.000000 meters along route # Maximum depth: 549.409776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.707245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.670684; captureRadius = 10; duration = 101; initialDepth = 494.707245; finalDepth = 491.217658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:494.707245 # Seafloor depth:-544.707245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.412442 meters # Minimum depth: 548.946925 meters looking forward 100.000000 meters along route # Maximum depth: 559.539562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.946925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.671457; captureRadius = 10; duration = 101; initialDepth = 498.946925; finalDepth = 494.707245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:498.946925 # Seafloor depth:-548.946925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.412823 meters # Minimum depth: 559.666331 meters looking forward 100.000000 meters along route # Maximum depth: 565.441284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.666331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.672230; captureRadius = 10; duration = 101; initialDepth = 509.666331; finalDepth = 498.946925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:509.666331 # Seafloor depth:-559.666331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.413205 meters # Minimum depth: 566.292160 meters looking forward 100.000000 meters along route # Maximum depth: 570.729804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.292160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.673003; captureRadius = 10; duration = 101; initialDepth = 516.292160; finalDepth = 509.666331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.29216 # Seafloor depth:-566.292160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.413588 meters # Minimum depth: 571.353284 meters looking forward 100.000000 meters along route # Maximum depth: 577.282953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.353284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.673777; captureRadius = 10; duration = 101; initialDepth = 521.353284; finalDepth = 516.292160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.353284 # Seafloor depth:-571.353284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.413969 meters # Minimum depth: 578.879891 meters looking forward 100.000000 meters along route # Maximum depth: 584.152404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.879891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.674550; captureRadius = 10; duration = 101; initialDepth = 528.879891; finalDepth = 521.353284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:528.879891 # Seafloor depth:-578.879891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.414351 meters # Minimum depth: 585.754824 meters looking forward 100.000000 meters along route # Maximum depth: 589.412247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.754824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.675323; captureRadius = 10; duration = 101; initialDepth = 535.754824; finalDepth = 528.879891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.754824 # Seafloor depth:-585.754824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.414733 meters # Minimum depth: 589.486360 meters looking forward 100.000000 meters along route # Maximum depth: 593.720736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.486360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.676096; captureRadius = 10; duration = 101; initialDepth = 539.486360; finalDepth = 535.754824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:539.48636 # Seafloor depth:-589.486360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.415116 meters # Minimum depth: 593.741011 meters looking forward 100.000000 meters along route # Maximum depth: 596.411662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.741011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.676870; captureRadius = 10; duration = 101; initialDepth = 543.741011; finalDepth = 539.486360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1518550000001 # Actual altitude: 52.1518550000001 # Commanded vehicle depth:543.741011 # Seafloor depth:-595.892866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.415497 meters # Minimum depth: 595.915772 meters looking forward 100.000000 meters along route # Maximum depth: 598.201573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.915772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.677643; captureRadius = 10; duration = 101; initialDepth = 545.915772; finalDepth = 543.741011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1518550000001 # Actual altitude: 52.1518550000001 # Commanded vehicle depth:545.915772 # Seafloor depth:-596.351957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.415880 meters # Minimum depth: 595.294609 meters looking forward 100.000000 meters along route # Maximum depth: 601.778457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.294609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.678416; captureRadius = 10; duration = 101; initialDepth = 545.294609; finalDepth = 545.915772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.436185 # Actual altitude: 50.436185 # Commanded vehicle depth:545.294609 # Seafloor depth:-595.584089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.416261 meters # Minimum depth: 602.759517 meters looking forward 100.000000 meters along route # Maximum depth: 605.599576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.759517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.679189; captureRadius = 10; duration = 101; initialDepth = 552.759517; finalDepth = 545.294609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2894799999999 # Actual altitude: 50.2894799999999 # Commanded vehicle depth:552.759517 # Seafloor depth:-602.759517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.416644 meters # Minimum depth: 605.651819 meters looking forward 100.000000 meters along route # Maximum depth: 606.879031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.651819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.679963; captureRadius = 10; duration = 101; initialDepth = 555.651819; finalDepth = 552.759517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:555.651819 # Seafloor depth:-605.651819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.417025 meters # Minimum depth: 607.212857 meters looking forward 100.000000 meters along route # Maximum depth: 610.549788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.212857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.680736; captureRadius = 10; duration = 101; initialDepth = 557.212857; finalDepth = 555.651819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.039886 # Actual altitude: 50.039886 # Commanded vehicle depth:557.212857 # Seafloor depth:-607.252743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.417408 meters # Minimum depth: 610.890256 meters looking forward 100.000000 meters along route # Maximum depth: 614.589478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.890256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.681509; captureRadius = 10; duration = 101; initialDepth = 560.890256; finalDepth = 557.212857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.039886 # Actual altitude: 50.039886 # Commanded vehicle depth:560.890256 # Seafloor depth:-610.890256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.417790 meters # Minimum depth: 615.131989 meters looking forward 100.000000 meters along route # Maximum depth: 618.383368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.131989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.682283; captureRadius = 10; duration = 101; initialDepth = 565.131989; finalDepth = 560.890256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:565.131989 # Seafloor depth:-615.131989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.418172 meters # Minimum depth: 619.700100 meters looking forward 100.000000 meters along route # Maximum depth: 624.978414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.700100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.683056; captureRadius = 10; duration = 101; initialDepth = 569.700100; finalDepth = 565.131989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:569.7001 # Seafloor depth:-619.700100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.418554 meters # Minimum depth: 622.066457 meters looking forward 100.000000 meters along route # Maximum depth: 626.253450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.066457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.683829; captureRadius = 10; duration = 101; initialDepth = 572.066457; finalDepth = 569.700100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.91122 # Actual altitude: 50.91122 # Commanded vehicle depth:572.066457 # Seafloor depth:-622.977677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.418936 meters # Minimum depth: 628.377700 meters looking forward 100.000000 meters along route # Maximum depth: 638.377619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.377700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.684602; captureRadius = 10; duration = 101; initialDepth = 578.377700; finalDepth = 572.066457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.91122 # Actual altitude: 50.91122 # Commanded vehicle depth:578.3777 # Seafloor depth:-628.377700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.419318 meters # Minimum depth: 639.070334 meters looking forward 100.000000 meters along route # Maximum depth: 646.746235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.070334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.685376; captureRadius = 10; duration = 101; initialDepth = 589.070334; finalDepth = 578.377700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:589.070334 # Seafloor depth:-639.070334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.419701 meters # Minimum depth: 649.037998 meters looking forward 100.000000 meters along route # Maximum depth: 657.460713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.037998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.686149; captureRadius = 10; duration = 101; initialDepth = 599.037998; finalDepth = 589.070334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:599.037998 # Seafloor depth:-649.037998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.420082 meters # Minimum depth: 658.637812 meters looking forward 100.000000 meters along route # Maximum depth: 668.095484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.637812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.686922; captureRadius = 10; duration = 101; initialDepth = 608.637812; finalDepth = 599.037998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:608.637812 # Seafloor depth:-658.637812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.420465 meters # Minimum depth: 668.223875 meters looking forward 100.000000 meters along route # Maximum depth: 673.751082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.223875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.687695; captureRadius = 10; duration = 101; initialDepth = 618.223875; finalDepth = 608.637812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:618.223875 # Seafloor depth:-668.223875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.420847 meters # Minimum depth: 670.575259 meters looking forward 100.000000 meters along route # Maximum depth: 674.304254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.575259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.688469; captureRadius = 10; duration = 101; initialDepth = 620.575259; finalDepth = 618.223875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7289950000001 # Actual altitude: 53.7289950000001 # Commanded vehicle depth:620.575259 # Seafloor depth:-674.304254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.421229 meters # Minimum depth: 670.775941 meters looking forward 100.000000 meters along route # Maximum depth: 672.086966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.775941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.689242; captureRadius = 10; duration = 101; initialDepth = 620.775941; finalDepth = 620.575259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7289950000001 # Actual altitude: 53.7289950000001 # Commanded vehicle depth:620.775941 # Seafloor depth:-670.775941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.421611 meters # Minimum depth: 669.732586 meters looking forward 100.000000 meters along route # Maximum depth: 671.101842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.732586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.690015; captureRadius = 10; duration = 101; initialDepth = 619.732586; finalDepth = 620.775941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4851190000001 # Actual altitude: 50.4851190000001 # Commanded vehicle depth:619.732586 # Seafloor depth:-670.217705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.421994 meters # Minimum depth: 670.500089 meters looking forward 100.000000 meters along route # Maximum depth: 676.760693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.500089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.690788; captureRadius = 10; duration = 101; initialDepth = 620.500089; finalDepth = 619.732586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4851190000001 # Actual altitude: 50.4851190000001 # Commanded vehicle depth:620.500089 # Seafloor depth:-670.500089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.422375 meters # Minimum depth: 676.860270 meters looking forward 100.000000 meters along route # Maximum depth: 681.863517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.860270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.691562; captureRadius = 10; duration = 101; initialDepth = 626.860270; finalDepth = 620.500089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.86027 # Seafloor depth:-676.860270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.422758 meters # Minimum depth: 681.936417 meters looking forward 100.000000 meters along route # Maximum depth: 683.262644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.936417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.692335; captureRadius = 10; duration = 101; initialDepth = 631.936417; finalDepth = 626.860270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:631.936417 # Seafloor depth:-681.936417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.423140 meters # Minimum depth: 682.636766 meters looking forward 100.000000 meters along route # Maximum depth: 684.569970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.636766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.693108; captureRadius = 10; duration = 101; initialDepth = 632.636766; finalDepth = 631.936417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:632.636766 # Seafloor depth:-682.636766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.423522 meters # Minimum depth: 685.412932 meters looking forward 100.000000 meters along route # Maximum depth: 685.912845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.412932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.693882; captureRadius = 10; duration = 101; initialDepth = 635.412932; finalDepth = 632.636766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.071986 # Actual altitude: 50.071986 # Commanded vehicle depth:635.412932 # Seafloor depth:-685.484918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.423905 meters # Minimum depth: 686.845627 meters looking forward 100.000000 meters along route # Maximum depth: 687.724891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.845627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.694655; captureRadius = 10; duration = 101; initialDepth = 636.845627; finalDepth = 635.412932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.071986 # Actual altitude: 50.071986 # Commanded vehicle depth:636.845627 # Seafloor depth:-686.871908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.424286 meters # Minimum depth: 687.392437 meters looking forward 100.000000 meters along route # Maximum depth: 688.763930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.392437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.695428; captureRadius = 10; duration = 101; initialDepth = 637.392437; finalDepth = 636.845627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0262809999999 # Actual altitude: 50.0262809999999 # Commanded vehicle depth:637.392437 # Seafloor depth:-687.392437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.424669 meters # Minimum depth: 687.100369 meters looking forward 100.000000 meters along route # Maximum depth: 690.065803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.100369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.696201; captureRadius = 10; duration = 101; initialDepth = 637.100369; finalDepth = 637.392437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:637.100369 # Seafloor depth:-687.100369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.425051 meters # Minimum depth: 689.677951 meters looking forward 100.000000 meters along route # Maximum depth: 691.397345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.677951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.696975; captureRadius = 10; duration = 101; initialDepth = 639.677951; finalDepth = 637.100369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.333892 # Actual altitude: 50.333892 # Commanded vehicle depth:639.677951 # Seafloor depth:-690.011843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.425434 meters # Minimum depth: 692.043688 meters looking forward 100.000000 meters along route # Maximum depth: 693.894578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.043688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.697748; captureRadius = 10; duration = 101; initialDepth = 642.043688; finalDepth = 639.677951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.333892 # Actual altitude: 50.333892 # Commanded vehicle depth:642.043688 # Seafloor depth:-692.043688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.425816 meters # Minimum depth: 692.944335 meters looking forward 100.000000 meters along route # Maximum depth: 698.969022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.944335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.698521; captureRadius = 10; duration = 101; initialDepth = 642.944335; finalDepth = 642.043688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.063951 # Actual altitude: 50.063951 # Commanded vehicle depth:642.944335 # Seafloor depth:-693.008286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.426198 meters # Minimum depth: 698.974808 meters looking forward 100.000000 meters along route # Maximum depth: 707.756502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.974808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.699294; captureRadius = 10; duration = 101; initialDepth = 648.974808; finalDepth = 642.944335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.063951 # Actual altitude: 50.063951 # Commanded vehicle depth:648.974808 # Seafloor depth:-698.974808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.426580 meters # Minimum depth: 709.159154 meters looking forward 100.000000 meters along route # Maximum depth: 714.941172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.159154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.700068; captureRadius = 10; duration = 101; initialDepth = 659.159154; finalDepth = 648.974808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:659.159154 # Seafloor depth:-709.159154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.426962 meters # Minimum depth: 715.689069 meters looking forward 100.000000 meters along route # Maximum depth: 722.815807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.689069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.700841; captureRadius = 10; duration = 101; initialDepth = 665.689069; finalDepth = 659.159154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:665.689069 # Seafloor depth:-715.689069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.427345 meters # Minimum depth: 726.595907 meters looking forward 100.000000 meters along route # Maximum depth: 732.506468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.595907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.701614; captureRadius = 10; duration = 101; initialDepth = 676.595907; finalDepth = 665.689069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:676.595907 # Seafloor depth:-726.595907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.427728 meters # Minimum depth: 730.565790 meters looking forward 100.000000 meters along route # Maximum depth: 736.536037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.565790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.702387; captureRadius = 10; duration = 101; initialDepth = 680.565790; finalDepth = 676.595907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:680.56579 # Seafloor depth:-730.565790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.428109 meters # Minimum depth: 736.622162 meters looking forward 100.000000 meters along route # Maximum depth: 743.949168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.622162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.703161; captureRadius = 10; duration = 101; initialDepth = 686.622162; finalDepth = 680.565790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:686.622162 # Seafloor depth:-736.622162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.428492 meters # Minimum depth: 747.111105 meters looking forward 100.000000 meters along route # Maximum depth: 758.943260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.111105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.703934; captureRadius = 10; duration = 101; initialDepth = 697.111105; finalDepth = 686.622162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:697.111105 # Seafloor depth:-747.111105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.428874 meters # Minimum depth: 759.396158 meters looking forward 100.000000 meters along route # Maximum depth: 761.760612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.396158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289787; longitude = -117.704707; captureRadius = 10; duration = 101; initialDepth = 709.396158; finalDepth = 697.111105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:709.396158 # Seafloor depth:-759.396158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.429257 meters # Minimum depth: 762.203268 meters looking forward 100.000000 meters along route # Maximum depth: 765.564391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.203268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289143; longitude = -117.705481; captureRadius = 10; duration = 101; initialDepth = 712.203268; finalDepth = 709.396158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.361123 # Actual altitude: 53.361123 # Commanded vehicle depth:712.203268 # Seafloor depth:-765.564391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.429638 meters # Minimum depth: 761.576686 meters looking forward 100.000000 meters along route # Maximum depth: 762.455977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.576686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.706254; captureRadius = 10; duration = 101; initialDepth = 711.576686; finalDepth = 712.203268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.361123 # Actual altitude: 53.361123 # Commanded vehicle depth:711.576686 # Seafloor depth:-762.455977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.430022 meters # Minimum depth: 761.651842 meters looking forward 100.000000 meters along route # Maximum depth: 762.448029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.651842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.707027; captureRadius = 10; duration = 101; initialDepth = 711.651842; finalDepth = 711.576686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.879291 # Actual altitude: 50.879291 # Commanded vehicle depth:711.651842 # Seafloor depth:-761.651842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.430403 meters # Minimum depth: 762.710742 meters looking forward 100.000000 meters along route # Maximum depth: 764.151569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.710742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.707800; captureRadius = 10; duration = 101; initialDepth = 712.710742; finalDepth = 711.651842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.710742 # Seafloor depth:-762.710742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.556610 meters # Minimum depth: 764.272926 meters looking forward 100.000000 meters along route # Maximum depth: 765.950685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.272926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.708574; captureRadius = 10; duration = 105; initialDepth = 714.272926; finalDepth = 712.710742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.272926 # Seafloor depth:-764.272926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.524969 meters # Minimum depth: 766.017040 meters looking forward 100.000000 meters along route # Maximum depth: 767.798340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.017040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285895; longitude = -117.709378; captureRadius = 10; duration = 115; initialDepth = 716.017040; finalDepth = 714.272926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.01704 # Seafloor depth:-766.017040 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 25.531140 meters # Minimum depth: 766.920736 meters looking forward 100.000000 meters along route # Maximum depth: 767.863525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.920736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285161; longitude = -117.710259; captureRadius = 10; duration = 25; # abortOnTimeout = True; initialDepth = 716.920736; finalDepth = 716.017040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9427889999999 # Actual altitude: 50.9427889999999 # Commanded vehicle depth:716.920736 # Seafloor depth:-767.863525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 124.465555 meters # Minimum depth: 766.912935 meters looking forward 100.000000 meters along route # Maximum depth: 767.633474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.912935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285324; longitude = -117.710452; captureRadius = 10; duration = 124; initialDepth = 716.912935; finalDepth = 716.920736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9427889999999 # Actual altitude: 50.9427889999999 # Commanded vehicle depth:716.912935 # Seafloor depth:-767.633474 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 2 at end of line 2 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.591787; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.591787; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1578; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 2.346015 meters # Minimum depth: 766.912935 meters looking forward 100.000000 meters along route # Maximum depth: 767.417447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.912935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286121; longitude = -117.711394; captureRadius = 10; duration = 2; # abortOnTimeout = True; initialDepth = 716.912935; finalDepth = 716.912935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.720539 # Actual altitude: 50.720539 # Commanded vehicle depth:716.912935 # Seafloor depth:-767.023682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.729327 meters # Minimum depth: 765.302127 meters looking forward 100.000000 meters along route # Maximum depth: 766.830512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.302127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286136; longitude = -117.711376; captureRadius = 10; duration = 101; initialDepth = 715.302127; finalDepth = 716.912935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.528385 # Actual altitude: 51.528385 # Commanded vehicle depth:715.302127 # Seafloor depth:-766.830512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.384800 meters # Minimum depth: 763.074362 meters looking forward 100.000000 meters along route # Maximum depth: 765.139299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.074362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286780; longitude = -117.710598; captureRadius = 10; duration = 103; initialDepth = 713.074362; finalDepth = 715.302127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0649370000001 # Actual altitude: 52.0649370000001 # Commanded vehicle depth:713.074362 # Seafloor depth:-765.139299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.072697 meters # Minimum depth: 760.939852 meters looking forward 100.000000 meters along route # Maximum depth: 763.036179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.939852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287435; longitude = -117.709808; captureRadius = 10; duration = 100; initialDepth = 710.939852; finalDepth = 713.074362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.096327 # Actual altitude: 52.096327 # Commanded vehicle depth:710.939852 # Seafloor depth:-763.036179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.728170 meters # Minimum depth: 757.542691 meters looking forward 100.000000 meters along route # Maximum depth: 760.514810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.542691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288069; longitude = -117.709043; captureRadius = 10; duration = 101; initialDepth = 707.542691; finalDepth = 710.939852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.972119 # Actual altitude: 52.972119 # Commanded vehicle depth:707.542691 # Seafloor depth:-760.514810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.727784 meters # Minimum depth: 754.299658 meters looking forward 100.000000 meters along route # Maximum depth: 757.376185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.299658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288713; longitude = -117.708265; captureRadius = 10; duration = 101; initialDepth = 704.299658; finalDepth = 707.542691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0765269999999 # Actual altitude: 53.0765269999999 # Commanded vehicle depth:704.299658 # Seafloor depth:-757.376185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.727398 meters # Minimum depth: 746.786670 meters looking forward 100.000000 meters along route # Maximum depth: 753.258122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.786670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289358; longitude = -117.707487; captureRadius = 10; duration = 101; initialDepth = 696.786670; finalDepth = 704.299658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.471452 # Actual altitude: 56.471452 # Commanded vehicle depth:696.78667 # Seafloor depth:-753.258122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.727013 meters # Minimum depth: 737.233363 meters looking forward 100.000000 meters along route # Maximum depth: 745.238475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.233363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290002; longitude = -117.706709; captureRadius = 10; duration = 101; initialDepth = 687.233363; finalDepth = 696.786670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0051119999999 # Actual altitude: 58.0051119999999 # Commanded vehicle depth:687.233363 # Seafloor depth:-745.238475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 232.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.726626 meters # Minimum depth: 730.566045 meters looking forward 100.000000 meters along route # Maximum depth: 737.092438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.566045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290646; longitude = -117.705932; captureRadius = 10; duration = 101; initialDepth = 680.566045; finalDepth = 687.233363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0051119999999 # Actual altitude: 58.0051119999999 # Commanded vehicle depth:680.566045 # Seafloor depth:-737.092438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 232.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.726241 meters # Minimum depth: 729.345651 meters looking forward 100.000000 meters along route # Maximum depth: 731.033979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.345651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291291; longitude = -117.705154; captureRadius = 10; duration = 101; initialDepth = 679.345651; finalDepth = 680.566045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.526393 # Actual altitude: 56.526393 # Commanded vehicle depth:679.345651 # Seafloor depth:-729.758887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.725855 meters # Minimum depth: 727.515735 meters looking forward 100.000000 meters along route # Maximum depth: 730.944971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.515735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291935; longitude = -117.704376; captureRadius = 10; duration = 101; initialDepth = 677.515735; finalDepth = 679.345651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4292360000001 # Actual altitude: 53.4292360000001 # Commanded vehicle depth:677.515735 # Seafloor depth:-730.944971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.725470 meters # Minimum depth: 722.543648 meters looking forward 100.000000 meters along route # Maximum depth: 728.512173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.543648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292579; longitude = -117.703598; captureRadius = 10; duration = 101; initialDepth = 672.543648; finalDepth = 677.515735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.968525 # Actual altitude: 55.968525 # Commanded vehicle depth:672.543648 # Seafloor depth:-728.512173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.725083 meters # Minimum depth: 713.025922 meters looking forward 100.000000 meters along route # Maximum depth: 721.026350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.025922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293224; longitude = -117.702821; captureRadius = 10; duration = 101; initialDepth = 663.025922; finalDepth = 672.543648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0004279999999 # Actual altitude: 58.0004279999999 # Commanded vehicle depth:663.025922 # Seafloor depth:-721.026350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 232.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.724698 meters # Minimum depth: 705.602170 meters looking forward 100.000000 meters along route # Maximum depth: 712.499848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.602170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293868; longitude = -117.702043; captureRadius = 10; duration = 101; initialDepth = 655.602170; finalDepth = 663.025922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0004279999999 # Actual altitude: 58.0004279999999 # Commanded vehicle depth:655.60217 # Seafloor depth:-712.499848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 232.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.724313 meters # Minimum depth: 700.797646 meters looking forward 100.000000 meters along route # Maximum depth: 704.130803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.797646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294512; longitude = -117.701265; captureRadius = 10; duration = 101; initialDepth = 650.797646; finalDepth = 655.602170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.897678 # Actual altitude: 56.897678 # Commanded vehicle depth:650.797646 # Seafloor depth:-703.851056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.723926 meters # Minimum depth: 697.894420 meters looking forward 100.000000 meters along route # Maximum depth: 700.019009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.894420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295157; longitude = -117.700487; captureRadius = 10; duration = 101; initialDepth = 647.894420; finalDepth = 650.797646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.05341 # Actual altitude: 53.05341 # Commanded vehicle depth:647.89442 # Seafloor depth:-700.019009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.723541 meters # Minimum depth: 696.280614 meters looking forward 100.000000 meters along route # Maximum depth: 697.881213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.280614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295801; longitude = -117.699709; captureRadius = 10; duration = 101; initialDepth = 646.280614; finalDepth = 647.894420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.124589 # Actual altitude: 52.124589 # Commanded vehicle depth:646.280614 # Seafloor depth:-697.881213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.723155 meters # Minimum depth: 692.497880 meters looking forward 100.000000 meters along route # Maximum depth: 695.700450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.497880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296445; longitude = -117.698932; captureRadius = 10; duration = 101; initialDepth = 642.497880; finalDepth = 646.280614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.20257 # Actual altitude: 53.20257 # Commanded vehicle depth:642.49788 # Seafloor depth:-695.700450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.722770 meters # Minimum depth: 691.191966 meters looking forward 100.000000 meters along route # Maximum depth: 696.375329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.191966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297090; longitude = -117.698154; captureRadius = 10; duration = 101; initialDepth = 641.191966; finalDepth = 642.497880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.20257 # Actual altitude: 53.20257 # Commanded vehicle depth:641.191966 # Seafloor depth:-694.010230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.722383 meters # Minimum depth: 691.627864 meters looking forward 100.000000 meters along route # Maximum depth: 693.636519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.627864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297734; longitude = -117.697376; captureRadius = 10; duration = 101; initialDepth = 641.627864; finalDepth = 641.191966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.818264 # Actual altitude: 52.818264 # Commanded vehicle depth:641.627864 # Seafloor depth:-693.452718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.721999 meters # Minimum depth: 690.853120 meters looking forward 100.000000 meters along route # Maximum depth: 691.901815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.853120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298378; longitude = -117.696598; captureRadius = 10; duration = 101; initialDepth = 640.853120; finalDepth = 641.627864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.824854 # Actual altitude: 51.824854 # Commanded vehicle depth:640.85312 # Seafloor depth:-691.460142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.721612 meters # Minimum depth: 688.965211 meters looking forward 100.000000 meters along route # Maximum depth: 690.825236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.965211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299023; longitude = -117.695821; captureRadius = 10; duration = 101; initialDepth = 638.965211; finalDepth = 640.853120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8600250000001 # Actual altitude: 51.8600250000001 # Commanded vehicle depth:638.965211 # Seafloor depth:-690.825236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.721227 meters # Minimum depth: 685.954737 meters looking forward 100.000000 meters along route # Maximum depth: 688.939559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.954737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299667; longitude = -117.695043; captureRadius = 10; duration = 101; initialDepth = 635.954737; finalDepth = 638.965211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.984822 # Actual altitude: 52.984822 # Commanded vehicle depth:635.954737 # Seafloor depth:-688.939559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.063506 meters # Minimum depth: 686.497647 meters looking forward 100.000000 meters along route # Maximum depth: 687.481044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.497647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300311; longitude = -117.694265; captureRadius = 10; duration = 102; initialDepth = 636.497647; finalDepth = 635.954737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.984822 # Actual altitude: 52.984822 # Commanded vehicle depth:636.497647 # Seafloor depth:-687.045331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.377791 meters # Minimum depth: 685.600945 meters looking forward 100.000000 meters along route # Maximum depth: 687.676930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.600945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300958; longitude = -117.693485; captureRadius = 10; duration = 101; initialDepth = 635.600945; finalDepth = 636.497647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8865559999999 # Actual altitude: 50.8865559999999 # Commanded vehicle depth:635.600945 # Seafloor depth:-686.487501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.720070 meters # Minimum depth: 679.599715 meters looking forward 100.000000 meters along route # Maximum depth: 683.819031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.599715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301600; longitude = -117.692709; captureRadius = 10; duration = 101; initialDepth = 629.599715; finalDepth = 635.600945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.219316 # Actual altitude: 54.219316 # Commanded vehicle depth:629.599715 # Seafloor depth:-683.819031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.719684 meters # Minimum depth: 674.789241 meters looking forward 100.000000 meters along route # Maximum depth: 679.651390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.789241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302244; longitude = -117.691932; captureRadius = 10; duration = 101; initialDepth = 624.789241; finalDepth = 629.599715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.862149 # Actual altitude: 54.862149 # Commanded vehicle depth:624.789241 # Seafloor depth:-679.651390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.719299 meters # Minimum depth: 670.762866 meters looking forward 100.000000 meters along route # Maximum depth: 671.267917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.762866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302889; longitude = -117.691154; captureRadius = 10; duration = 101; initialDepth = 620.762866; finalDepth = 624.789241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.862149 # Actual altitude: 54.862149 # Commanded vehicle depth:620.762866 # Seafloor depth:-670.887972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.718913 meters # Minimum depth: 668.881887 meters looking forward 100.000000 meters along route # Maximum depth: 671.842685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.881887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303533; longitude = -117.690376; captureRadius = 10; duration = 101; initialDepth = 618.881887; finalDepth = 620.762866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9087469999999 # Actual altitude: 51.9087469999999 # Commanded vehicle depth:618.881887 # Seafloor depth:-670.790634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.718528 meters # Minimum depth: 669.473513 meters looking forward 100.000000 meters along route # Maximum depth: 673.114707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.473513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304177; longitude = -117.689598; captureRadius = 10; duration = 101; initialDepth = 619.473513; finalDepth = 618.881887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.656807 # Actual altitude: 52.656807 # Commanded vehicle depth:619.473513 # Seafloor depth:-672.130320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.718142 meters # Minimum depth: 660.981894 meters looking forward 100.000000 meters along route # Maximum depth: 668.200588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.981894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304822; longitude = -117.688821; captureRadius = 10; duration = 101; initialDepth = 610.981894; finalDepth = 619.473513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.218694 # Actual altitude: 57.218694 # Commanded vehicle depth:610.981894 # Seafloor depth:-668.200588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.897778 meters # Minimum depth: 651.334106 meters looking forward 100.000000 meters along route # Maximum depth: 660.170783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.334106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305466; longitude = -117.688043; captureRadius = 10; duration = 102; initialDepth = 601.334106; finalDepth = 610.981894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.836677 # Actual altitude: 58.836677 # Commanded vehicle depth:601.334106 # Seafloor depth:-660.170783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.537349 meters # Minimum depth: 643.658527 meters looking forward 100.000000 meters along route # Maximum depth: 651.230435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.658527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306118; longitude = -117.687256; captureRadius = 10; duration = 100; initialDepth = 593.658527; finalDepth = 601.334106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.836677 # Actual altitude: 58.836677 # Commanded vehicle depth:593.658527 # Seafloor depth:-651.230435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.716985 meters # Minimum depth: 633.356786 meters looking forward 100.000000 meters along route # Maximum depth: 642.167893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.356786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306755; longitude = -117.686487; captureRadius = 10; duration = 101; initialDepth = 583.356786; finalDepth = 593.658527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.811107 # Actual altitude: 58.811107 # Commanded vehicle depth:583.356786 # Seafloor depth:-642.167893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.716600 meters # Minimum depth: 626.588800 meters looking forward 100.000000 meters along route # Maximum depth: 632.849953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.588800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307399; longitude = -117.685709; captureRadius = 10; duration = 101; initialDepth = 576.588800; finalDepth = 583.356786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.811107 # Actual altitude: 58.811107 # Commanded vehicle depth:576.5888 # Seafloor depth:-632.849953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.716214 meters # Minimum depth: 625.159369 meters looking forward 100.000000 meters along route # Maximum depth: 626.562712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.159369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308043; longitude = -117.684932; captureRadius = 10; duration = 101; initialDepth = 575.159369; finalDepth = 576.588800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.261153 # Actual altitude: 56.261153 # Commanded vehicle depth:575.159369 # Seafloor depth:-625.363018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 225.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.715829 meters # Minimum depth: 620.274788 meters looking forward 100.000000 meters along route # Maximum depth: 623.485676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.274788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308688; longitude = -117.684154; captureRadius = 10; duration = 101; initialDepth = 570.274788; finalDepth = 575.159369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2108880000001 # Actual altitude: 53.2108880000001 # Commanded vehicle depth:570.274788 # Seafloor depth:-623.485676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.715443 meters # Minimum depth: 616.076987 meters looking forward 100.000000 meters along route # Maximum depth: 620.672529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.076987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309332; longitude = -117.683376; captureRadius = 10; duration = 101; initialDepth = 566.076987; finalDepth = 570.274788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.595542 # Actual altitude: 54.595542 # Commanded vehicle depth:566.076987 # Seafloor depth:-620.672529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.715058 meters # Minimum depth: 612.872863 meters looking forward 100.000000 meters along route # Maximum depth: 615.590261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.872863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309976; longitude = -117.682598; captureRadius = 10; duration = 101; initialDepth = 562.872863; finalDepth = 566.076987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.595542 # Actual altitude: 54.595542 # Commanded vehicle depth:562.872863 # Seafloor depth:-615.590261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.714672 meters # Minimum depth: 611.141269 meters looking forward 100.000000 meters along route # Maximum depth: 612.791050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.141269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310621; longitude = -117.681821; captureRadius = 10; duration = 101; initialDepth = 561.141269; finalDepth = 562.872863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.717398 # Actual altitude: 52.717398 # Commanded vehicle depth:561.141269 # Seafloor depth:-612.791050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.714287 meters # Minimum depth: 609.071867 meters looking forward 100.000000 meters along route # Maximum depth: 610.029349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.071867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311265; longitude = -117.681043; captureRadius = 10; duration = 101; initialDepth = 559.071867; finalDepth = 561.141269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6497810000001 # Actual altitude: 51.6497810000001 # Commanded vehicle depth:559.071867 # Seafloor depth:-609.559739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.713901 meters # Minimum depth: 592.120542 meters looking forward 100.000000 meters along route # Maximum depth: 608.672803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.120542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311909; longitude = -117.680265; captureRadius = 10; duration = 101; initialDepth = 542.120542; finalDepth = 559.071867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.552261 # Actual altitude: 66.552261 # Commanded vehicle depth:542.120542 # Seafloor depth:-608.672803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.713516 meters # Minimum depth: 595.122759 meters looking forward 100.000000 meters along route # Maximum depth: 599.108791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.122759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312554; longitude = -117.679487; captureRadius = 10; duration = 101; initialDepth = 545.122759; finalDepth = 542.120542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.552261 # Actual altitude: 66.552261 # Commanded vehicle depth:545.122759 # Seafloor depth:-598.701423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.713130 meters # Minimum depth: 592.489354 meters looking forward 100.000000 meters along route # Maximum depth: 595.318963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.489354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313198; longitude = -117.678709; captureRadius = 10; duration = 101; initialDepth = 542.489354; finalDepth = 545.122759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.578664 # Actual altitude: 53.578664 # Commanded vehicle depth:542.489354 # Seafloor depth:-595.318963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.712745 meters # Minimum depth: 591.402392 meters looking forward 100.000000 meters along route # Maximum depth: 594.557725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.402392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313842; longitude = -117.677932; captureRadius = 10; duration = 101; initialDepth = 541.402392; finalDepth = 542.489354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.829609 # Actual altitude: 52.829609 # Commanded vehicle depth:541.402392 # Seafloor depth:-593.106483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.712359 meters # Minimum depth: 588.028591 meters looking forward 100.000000 meters along route # Maximum depth: 591.291725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.028591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314487; longitude = -117.677154; captureRadius = 10; duration = 101; initialDepth = 538.028591; finalDepth = 541.402392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.263134 # Actual altitude: 53.263134 # Commanded vehicle depth:538.028591 # Seafloor depth:-591.291725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.711974 meters # Minimum depth: 582.392771 meters looking forward 100.000000 meters along route # Maximum depth: 586.732938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.392771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315131; longitude = -117.676376; captureRadius = 10; duration = 101; initialDepth = 532.392771; finalDepth = 538.028591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.340167 # Actual altitude: 54.340167 # Commanded vehicle depth:532.392771 # Seafloor depth:-586.732938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.711589 meters # Minimum depth: 577.889272 meters looking forward 100.000000 meters along route # Maximum depth: 582.041224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.889272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315775; longitude = -117.675598; captureRadius = 10; duration = 101; initialDepth = 527.889272; finalDepth = 532.392771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.340167 # Actual altitude: 54.340167 # Commanded vehicle depth:527.889272 # Seafloor depth:-582.041224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.711203 meters # Minimum depth: 572.449261 meters looking forward 100.000000 meters along route # Maximum depth: 577.031319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.449261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316420; longitude = -117.674821; captureRadius = 10; duration = 101; initialDepth = 522.449261; finalDepth = 527.889272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5820580000001 # Actual altitude: 54.5820580000001 # Commanded vehicle depth:522.449261 # Seafloor depth:-577.031319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.710818 meters # Minimum depth: 567.280699 meters looking forward 100.000000 meters along route # Maximum depth: 571.447860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.280699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317064; longitude = -117.674043; captureRadius = 10; duration = 101; initialDepth = 517.280699; finalDepth = 522.449261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5820580000001 # Actual altitude: 54.5820580000001 # Commanded vehicle depth:517.280699 # Seafloor depth:-571.447860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.710432 meters # Minimum depth: 561.447799 meters looking forward 100.000000 meters along route # Maximum depth: 566.968485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.447799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317709; longitude = -117.673265; captureRadius = 10; duration = 101; initialDepth = 511.447799; finalDepth = 517.280699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.520686 # Actual altitude: 55.520686 # Commanded vehicle depth:511.447799 # Seafloor depth:-566.968485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.710047 meters # Minimum depth: 554.690912 meters looking forward 100.000000 meters along route # Maximum depth: 560.783041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.690912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318353; longitude = -117.672487; captureRadius = 10; duration = 101; initialDepth = 504.690912; finalDepth = 511.447799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.092129 # Actual altitude: 56.092129 # Commanded vehicle depth:504.690912 # Seafloor depth:-560.783041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.709661 meters # Minimum depth: 550.128242 meters looking forward 100.000000 meters along route # Maximum depth: 554.773973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.128242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318997; longitude = -117.671709; captureRadius = 10; duration = 101; initialDepth = 500.128242; finalDepth = 504.690912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.092129 # Actual altitude: 56.092129 # Commanded vehicle depth:500.128242 # Seafloor depth:-554.582312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.709276 meters # Minimum depth: 542.715901 meters looking forward 100.000000 meters along route # Maximum depth: 551.151723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.715901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319642; longitude = -117.670932; captureRadius = 10; duration = 101; initialDepth = 492.715901; finalDepth = 500.128242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4358219999999 # Actual altitude: 58.4358219999999 # Commanded vehicle depth:492.715901 # Seafloor depth:-551.151723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 233.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.708891 meters # Minimum depth: 541.471557 meters looking forward 100.000000 meters along route # Maximum depth: 545.251500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.471557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320286; longitude = -117.670154; captureRadius = 10; duration = 101; initialDepth = 491.471557; finalDepth = 492.715901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4358219999999 # Actual altitude: 58.4358219999999 # Commanded vehicle depth:491.471557 # Seafloor depth:-543.167534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 233.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.708505 meters # Minimum depth: 535.718935 meters looking forward 100.000000 meters along route # Maximum depth: 540.955768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.718935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320930; longitude = -117.669376; captureRadius = 10; duration = 101; initialDepth = 485.718935; finalDepth = 491.471557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.236833 # Actual altitude: 55.236833 # Commanded vehicle depth:485.718935 # Seafloor depth:-540.955768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.708120 meters # Minimum depth: 527.677814 meters looking forward 100.000000 meters along route # Maximum depth: 533.635686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.677814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321575; longitude = -117.668598; captureRadius = 10; duration = 101; initialDepth = 477.677814; finalDepth = 485.718935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.957872 # Actual altitude: 55.957872 # Commanded vehicle depth:477.677814 # Seafloor depth:-533.635686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.707735 meters # Minimum depth: 515.041068 meters looking forward 100.000000 meters along route # Maximum depth: 526.236265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.041068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322219; longitude = -117.667821; captureRadius = 10; duration = 101; initialDepth = 465.041068; finalDepth = 477.677814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.195197 # Actual altitude: 61.195197 # Commanded vehicle depth:465.041068 # Seafloor depth:-526.236265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 244.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.707349 meters # Minimum depth: 501.179397 meters looking forward 100.000000 meters along route # Maximum depth: 514.678051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.179397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322863; longitude = -117.667043; captureRadius = 10; duration = 101; initialDepth = 451.179397; finalDepth = 465.041068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.498654 # Actual altitude: 63.498654 # Commanded vehicle depth:451.179397 # Seafloor depth:-514.678051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 253.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.706964 meters # Minimum depth: 485.301747 meters looking forward 100.000000 meters along route # Maximum depth: 498.202770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.301747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323508; longitude = -117.666265; captureRadius = 10; duration = 101; initialDepth = 435.301747; finalDepth = 451.179397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.498654 # Actual altitude: 63.498654 # Commanded vehicle depth:435.301747 # Seafloor depth:-498.202770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 253.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.410870 meters # Minimum depth: 462.096042 meters looking forward 100.000000 meters along route # Maximum depth: 483.858477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.096042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324152; longitude = -117.665487; captureRadius = 10; duration = 102; initialDepth = 412.096042; finalDepth = 435.301747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.762435 # Actual altitude: 71.762435 # Commanded vehicle depth:412.096042 # Seafloor depth:-483.858477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.70; MB_Bottom_Detect_Filter_Max_Range = 287.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.001903 meters # Minimum depth: 441.523090 meters looking forward 100.000000 meters along route # Maximum depth: 462.123151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.523090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324801; longitude = -117.664704; captureRadius = 10; duration = 101; initialDepth = 391.523090; finalDepth = 412.096042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.762435 # Actual altitude: 71.762435 # Commanded vehicle depth:391.52309 # Seafloor depth:-462.123151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.70; MB_Bottom_Detect_Filter_Max_Range = 287.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.705808 meters # Minimum depth: 431.127133 meters looking forward 100.000000 meters along route # Maximum depth: 441.191057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.127133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325441; longitude = -117.663932; captureRadius = 10; duration = 101; initialDepth = 381.127133; finalDepth = 391.523090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.600061 # Actual altitude: 70.600061 # Commanded vehicle depth:381.127133 # Seafloor depth:-440.547859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.24; MB_Bottom_Detect_Filter_Max_Range = 282.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.705422 meters # Minimum depth: 422.449449 meters looking forward 100.000000 meters along route # Maximum depth: 430.372606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.449449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326085; longitude = -117.663154; captureRadius = 10; duration = 101; initialDepth = 372.449449; finalDepth = 381.127133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.420726 # Actual altitude: 59.420726 # Commanded vehicle depth:372.449449 # Seafloor depth:-430.372606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.77; MB_Bottom_Detect_Filter_Max_Range = 237.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.705038 meters # Minimum depth: 410.307815 meters looking forward 100.000000 meters along route # Maximum depth: 419.169105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.307815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326729; longitude = -117.662376; captureRadius = 10; duration = 101; initialDepth = 360.307815; finalDepth = 372.449449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.86129 # Actual altitude: 58.86129 # Commanded vehicle depth:360.307815 # Seafloor depth:-419.169105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.704652 meters # Minimum depth: 400.690111 meters looking forward 100.000000 meters along route # Maximum depth: 409.014359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.690111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327374; longitude = -117.661598; captureRadius = 10; duration = 101; initialDepth = 350.690111; finalDepth = 360.307815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.86129 # Actual altitude: 58.86129 # Commanded vehicle depth:350.690111 # Seafloor depth:-409.014359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.704267 meters # Minimum depth: 391.459107 meters looking forward 100.000000 meters along route # Maximum depth: 400.444568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.459107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328018; longitude = -117.660821; captureRadius = 10; duration = 101; initialDepth = 341.459107; finalDepth = 350.690111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.985461 # Actual altitude: 58.985461 # Commanded vehicle depth:341.459107 # Seafloor depth:-400.444568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.703882 meters # Minimum depth: 366.215581 meters looking forward 100.000000 meters along route # Maximum depth: 387.773229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.215581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328662; longitude = -117.660043; captureRadius = 10; duration = 101; initialDepth = 316.215581; finalDepth = 341.459107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.557648 # Actual altitude: 71.557648 # Commanded vehicle depth:316.215581 # Seafloor depth:-387.773229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.62; MB_Bottom_Detect_Filter_Max_Range = 286.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.245016 meters # Minimum depth: 333.279528 meters looking forward 100.000000 meters along route # Maximum depth: 363.431167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.279528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329307; longitude = -117.659265; captureRadius = 10; duration = 103; initialDepth = 283.279528; finalDepth = 316.215581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.151639 # Actual altitude: 80.151639 # Commanded vehicle depth:283.279528 # Seafloor depth:-363.431167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 320.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.161591 meters # Minimum depth: 317.523436 meters looking forward 100.000000 meters along route # Maximum depth: 332.799399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.523436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329961; longitude = -117.658475; captureRadius = 10; duration = 100; initialDepth = 267.523436; finalDepth = 283.279528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.151639 # Actual altitude: 80.151639 # Commanded vehicle depth:267.523436 # Seafloor depth:-332.799399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 320.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.702726 meters # Minimum depth: 314.433715 meters looking forward 100.000000 meters along route # Maximum depth: 321.394988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.433715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330595; longitude = -117.657709; captureRadius = 10; duration = 101; initialDepth = 264.433715; finalDepth = 267.523436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.275963 # Actual altitude: 65.275963 # Commanded vehicle depth:264.433715 # Seafloor depth:-315.846444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 261.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.068388 meters # Minimum depth: 308.496134 meters looking forward 100.000000 meters along route # Maximum depth: 323.087110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.496134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331240; longitude = -117.656932; captureRadius = 10; duration = 107; initialDepth = 258.496134; finalDepth = 264.433715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.694713 # Actual altitude: 63.694713 # Commanded vehicle depth:258.496134 # Seafloor depth:-322.190847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 254.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 125.642814 meters # Minimum depth: 295.072815 meters looking forward 100.000000 meters along route # Maximum depth: 307.816465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.072815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331918; longitude = -117.656113; captureRadius = 10; duration = 125; initialDepth = 245.072815; finalDepth = 258.496134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.694713 # Actual altitude: 63.694713 # Commanded vehicle depth:245.072815 # Seafloor depth:-307.816465 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 254.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 41.421916 meters # Minimum depth: 290.240411 meters looking forward 100.000000 meters along route # Maximum depth: 297.893342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.240411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332714; longitude = -117.655152; captureRadius = 10; duration = 41; # abortOnTimeout = True; initialDepth = 240.240411; finalDepth = 245.072815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.74365 # Actual altitude: 62.74365 # Commanded vehicle depth:240.240411 # Seafloor depth:-293.968445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 250.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.557075 meters # Minimum depth: 289.608416 meters looking forward 100.000000 meters along route # Maximum depth: 291.154920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.608416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332967; longitude = -117.654824; captureRadius = 10; duration = 108; initialDepth = 239.608416; finalDepth = 240.240411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.728034 # Actual altitude: 53.728034 # Commanded vehicle depth:239.608416 # Seafloor depth:-290.154938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.228175 meters # Minimum depth: 289.042598 meters looking forward 100.000000 meters along route # Maximum depth: 290.885421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.042598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333629; longitude = -117.653965; captureRadius = 10; duration = 101; initialDepth = 239.042598; finalDepth = 239.608416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.546522 # Actual altitude: 50.546522 # Commanded vehicle depth:239.042598 # Seafloor depth:-289.485805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.615010 meters # Minimum depth: 286.975788 meters looking forward 100.000000 meters along route # Maximum depth: 288.831239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.975788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334247; longitude = -117.653164; captureRadius = 10; duration = 105; initialDepth = 236.975788; finalDepth = 239.042598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.855451 # Actual altitude: 51.855451 # Commanded vehicle depth:236.975788 # Seafloor depth:-288.831239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.614580 meters # Minimum depth: 283.179282 meters looking forward 100.000000 meters along route # Maximum depth: 286.459120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.179282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334891; longitude = -117.652328; captureRadius = 10; duration = 105; initialDepth = 233.179282; finalDepth = 236.975788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.279838 # Actual altitude: 53.279838 # Commanded vehicle depth:233.179282 # Seafloor depth:-286.459120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.614152 meters # Minimum depth: 275.893872 meters looking forward 100.000000 meters along route # Maximum depth: 282.385871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.893872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335535; longitude = -117.651492; captureRadius = 10; duration = 105; initialDepth = 225.893872; finalDepth = 233.179282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.491999 # Actual altitude: 56.491999 # Commanded vehicle depth:225.893872 # Seafloor depth:-282.385871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 225.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.613722 meters # Minimum depth: 269.290904 meters looking forward 100.000000 meters along route # Maximum depth: 274.580594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.290904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336180; longitude = -117.650656; captureRadius = 10; duration = 105; initialDepth = 219.290904; finalDepth = 225.893872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.491999 # Actual altitude: 56.491999 # Commanded vehicle depth:219.290904 # Seafloor depth:-274.580594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 225.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.613293 meters # Minimum depth: 259.454899 meters looking forward 100.000000 meters along route # Maximum depth: 268.667414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.454899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336824; longitude = -117.649821; captureRadius = 10; duration = 105; initialDepth = 209.454899; finalDepth = 219.290904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.212515 # Actual altitude: 59.212515 # Commanded vehicle depth:209.454899 # Seafloor depth:-268.667414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 236.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.612864 meters # Minimum depth: 247.413991 meters looking forward 100.000000 meters along route # Maximum depth: 258.874757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.413991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337468; longitude = -117.648985; captureRadius = 10; duration = 105; initialDepth = 197.413991; finalDepth = 209.454899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.460766 # Actual altitude: 61.460766 # Commanded vehicle depth:197.413991 # Seafloor depth:-258.874757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 245.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.390164 meters # Minimum depth: 235.372347 meters looking forward 100.000000 meters along route # Maximum depth: 247.171817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.372347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338113; longitude = -117.648149; captureRadius = 10; duration = 106; initialDepth = 185.372347; finalDepth = 197.413991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.79947 # Actual altitude: 61.79947 # Commanded vehicle depth:185.372347 # Seafloor depth:-247.171817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.553108 meters # Minimum depth: 230.684644 meters looking forward 100.000000 meters along route # Maximum depth: 235.307162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.684644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338762; longitude = -117.647307; captureRadius = 10; duration = 108; initialDepth = 180.684644; finalDepth = 185.372347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.79947 # Actual altitude: 61.79947 # Commanded vehicle depth:180.684644 # Seafloor depth:-235.307162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.892745 meters # Minimum depth: 226.203407 meters looking forward 100.000000 meters along route # Maximum depth: 230.430017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.203407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339424; longitude = -117.646448; captureRadius = 10; duration = 101; initialDepth = 176.203407; finalDepth = 180.684644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.622518 # Actual altitude: 54.622518 # Commanded vehicle depth:176.203407 # Seafloor depth:-230.430017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.611147 meters # Minimum depth: 218.039931 meters looking forward 100.000000 meters along route # Maximum depth: 224.816163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.039931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340046; longitude = -117.645641; captureRadius = 10; duration = 105; initialDepth = 168.039931; finalDepth = 176.203407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.776232 # Actual altitude: 56.776232 # Commanded vehicle depth:168.039931 # Seafloor depth:-224.816163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.610718 meters # Minimum depth: 211.624372 meters looking forward 100.000000 meters along route # Maximum depth: 217.469115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.624372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340690; longitude = -117.644806; captureRadius = 10; duration = 105; initialDepth = 161.624372; finalDepth = 168.039931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.776232 # Actual altitude: 56.776232 # Commanded vehicle depth:161.624372 # Seafloor depth:-217.469115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.610290 meters # Minimum depth: 202.136487 meters looking forward 100.000000 meters along route # Maximum depth: 210.484606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.136487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341334; longitude = -117.643970; captureRadius = 10; duration = 105; initialDepth = 152.136487; finalDepth = 161.624372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.348119 # Actual altitude: 58.348119 # Commanded vehicle depth:152.136487 # Seafloor depth:-210.484606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.609860 meters # Minimum depth: 189.691975 meters looking forward 100.000000 meters along route # Maximum depth: 200.799012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.691975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341979; longitude = -117.643134; captureRadius = 10; duration = 105; initialDepth = 139.691975; finalDepth = 152.136487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.107037 # Actual altitude: 61.107037 # Commanded vehicle depth:139.691975 # Seafloor depth:-200.799012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.609431 meters # Minimum depth: 177.159111 meters looking forward 100.000000 meters along route # Maximum depth: 188.824422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.159111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342623; longitude = -117.642298; captureRadius = 10; duration = 105; initialDepth = 127.159111; finalDepth = 139.691975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.665311 # Actual altitude: 61.665311 # Commanded vehicle depth:127.159111 # Seafloor depth:-188.824422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.609003 meters # Minimum depth: 162.616740 meters looking forward 100.000000 meters along route # Maximum depth: 176.237253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.616740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343267; longitude = -117.641462; captureRadius = 10; duration = 105; initialDepth = 112.616740; finalDepth = 127.159111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.620513 # Actual altitude: 63.620513 # Commanded vehicle depth:112.61674 # Seafloor depth:-176.237253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.718025 meters # Minimum depth: 148.261024 meters looking forward 100.000000 meters along route # Maximum depth: 162.215291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.261024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343912; longitude = -117.640626; captureRadius = 10; duration = 105; initialDepth = 98.261024; finalDepth = 112.616740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.954267 # Actual altitude: 63.954267 # Commanded vehicle depth:98.261024 # Seafloor depth:-162.215291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 255.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.549142 meters # Minimum depth: 131.152999 meters looking forward 100.000000 meters along route # Maximum depth: 148.244728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.152999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344557; longitude = -117.639790; captureRadius = 10; duration = 108; initialDepth = 81.152999; finalDepth = 98.261024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.091729 # Actual altitude: 67.091729 # Commanded vehicle depth:81.152999 # Seafloor depth:-148.244728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.548689 meters # Minimum depth: 116.565372 meters looking forward 100.000000 meters along route # Maximum depth: 130.707065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.565372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345219; longitude = -117.638930; captureRadius = 10; duration = 108; initialDepth = 66.565372; finalDepth = 81.152999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.091729 # Actual altitude: 67.091729 # Commanded vehicle depth:66.565372 # Seafloor depth:-130.707065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.548235 meters # Minimum depth: 102.176966 meters looking forward 100.000000 meters along route # Maximum depth: 115.727520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.176966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345881; longitude = -117.638071; captureRadius = 10; duration = 108; initialDepth = 52.176966; finalDepth = 66.565372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.141693 # Actual altitude: 64.141693 # Commanded vehicle depth:52.176966 # Seafloor depth:-115.727520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.547783 meters # Minimum depth: 96.758975 meters looking forward 100.000000 meters along route # Maximum depth: 101.552718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.758975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346544; longitude = -117.637212; captureRadius = 10; duration = 108; initialDepth = 46.758975; finalDepth = 52.176966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.550554 # Actual altitude: 63.550554 # Commanded vehicle depth:46.758975 # Seafloor depth:-101.552718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 254.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 114.105937 meters # Minimum depth: 87.451812 meters looking forward 100.000000 meters along route # Maximum depth: 95.887153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.451812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347206; longitude = -117.636353; captureRadius = 10; duration = 114; initialDepth = 37.451812; finalDepth = 46.758975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.317134 # Actual altitude: 58.317134 # Commanded vehicle depth:37.451812 # Seafloor depth:-95.768946 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 58.317134 # Actual altitude: 58.317134 # Commanded vehicle depth:37.411674 # Seafloor depth:-87.411674 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 233.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 87.411674 meters looking forward 100.000000 meters along route # Maximum depth: 95.887153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.411674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347902; longitude = -117.635450; captureRadius = 10; duration = 500; initialDepth = 37.411674; finalDepth = 37.451812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 270.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################